Hi Herman,
You're right there was not much documentation on the design of tf.  I have
gone through some of my notes and consolidated them onto the wiki at
http://www.ros.org/wiki/tf/Design  linked from the tf page.

If you have any specific questions please let me know. Or if there are parts
which are unclear or you would like more information also please let me
know.

We're currently in active discussions about ways to improve the next
generation of the library and are getting ready to experiment with new
approaches.   I have also started putting together the roadmap for geometry
2.0 which we will starting to actively work on soon.  See
http://www.ros.org/wiki/geometry/Roadmap

If you, or anyone else, have any suggestions or design criterion requests
also feel free to ask.  We appreciate any feedback, and right now is a good
time for geometry as we start thinking about the next evolution targeted for
diamondback.

Tully

On Wed, Sep 8, 2010 at 5:23 AM, Herman Bruyninckx <
Herman.Bruyninckx@mech.kuleuven.be> wrote:

> Dear all,
>
> I am interested in knowing what exactly was behind the _design_ of the tf
> library, but all that I can find is
> <
> https://code.ros.org/trac/wg-ros-pkg/browser/pkg/trunk/libTF/doc/libTF_Manual.tex?rev=175
> >
> This is basically a document about the library's features and how to use
> it, but is there somewhere else more information about _why_ libTF was made
> the way it is...?
>
> Herman
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>



-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827