Coordinate transformation tree with a focus on efficiency
Project description
mulberry
Coordinate transformation tree with a focus on efficiency
Overview
The goal of this project is to provide the functionality of ROS's TF2 but without the need for the ROS framework or intraprocess communication. By removing that restriction, we aim to allow more efficient transform querying by allowing truly static transforms, cached intermediate connections, and unrestricted tree merging.
Another library pytransform3d also brings the functionality of TF2 to non-ROS users, but is still bound to some of the restrictions of TF2 and so it cannot be optimized for mostly static trees.
Contributing
This project is still in the very early stages and is not yet ready for community contributions, but please let us know if there are any features which would make this tool more helpful and we hope to have the framework set up for community contributions soon.
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