{"repo":"PhilNad/with-respect-to","free":true,"listed":false,"github":"https://github.com/PhilNad/with-respect-to","clone":"git clone https://github.com/PhilNad/with-respect-to.git","description":"Fast and simple 3D pose manager to stop worrying about rigid transformations","language":"C++","stars":12,"topics":["3d","database","pose","rigid-transformations","robotics"],"license":"MIT","category":"databases-storage","readme_excerpt":"With-Respect-To With-Respect-To (WRT) is a lightweight, high-performance library for managing 3D transformations easily with a centralized database approach. This library is meant to be used whenever you need to read/write the pose of a frame, freeing yourself from the worry of error-prone computations. Goals - Simple. A single 3D convention is used and is explicitly defined. - Fast. The user should not worry about the overhead of calling accessors. - Accessible. Information is accessible from a variety of interfaces on Linux (Python, C++, Bash). - Minimalist. The API contains as few methods as possible. Usage Example Usage From Python This is part of python bindings/src/test.py. Example Usage From C++ This is part of test/src/test.cpp. Example Usage From Bash Usage of the Command-Line Interface Differences With tf2 Although this library might seem to be similar to tf2, there are notable differences that should be taken into account when choosing which one to use: - ### 1. tf2 requires running the ROS ecosystem, WRT does not. If you are already running ROS for other reasons, it might make more sense to continue using it. However, it might seem excessive to run the whole ROS ecosystem for the sole reason of recording transformations. - ### 2. tf2 does transformation interpolation, WRT does not. One of the primary use case for tf2 is to linearly interpolate poses through time. WRT does not do such operation and assumes that all transformations are exact at the time at which the","default_branch":null,"files":null,"tree":[],"storefront":"/r/PhilNad","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/PhilNad/with-respect-to/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}