Hi Tinne, Thanks for the announcement. -- Your friendly neighborhood ROS indexers On Tue, Jun 12, 2012 at 1:12 AM, Tinne De Laet < tinne.delaet@mech.kuleuven.be> wrote: > Dear ROS'er, > > With this email I want to announce the "geometric-relations-**semantics" > software (http://www.orocos.org/wiki/**geometric-relations-semantics-** > wiki and > http://www.ros.org/wiki/**geometric_relations_semantics > )**. > > The geometric relations semantics software (C++) implements the > geometric relation semantics theory, hereby offering support for > semantic checks for your rigid body relations calculations. This will > avoid commonly made errors, and hence reduce application and, > especially, system integration development time considerably. The > proposed software is to our knowledge the first to offer a semantic > interface for geometric operation software libraries. > > The goal of the software is to provide semantic checking for > calculations with geometric relations between rigid bodies on top of > existing geometric libraries, which are only working on specific > coordinate representations. Since there are already a lot of libraries > with good support for geometric calculations on specific coordinate > representations (The Orocos Kinematics and Dynamics library, the ROS > geometry library, boost, ...) we do not want to design yet another > library but rather will extend these existing geometric libraries with > semantic support. The effort to extend an existing geometric library > with semantic support is very limited: it boils down to the > implementation of about six function template specializations. > > The software already includes orocos typekits and already supports the > KDL geometry types and ROS geometry types. > Furthermore, it is fully Orocos and ROS compatible. > > The wiki page > (http://www.orocos.org/wiki/**geometric-relations-semantics-**wiki) > contains > background information, software design discussion, API, Quick start, > User guide, tutorials, FAQs, and use cases. > > We will be happy to receive any kind of feedback! > > Kind regards, > > Tinne De Laet > > > PS: The software is based on the paper "Geometric Relations between > Rigid Bodies: Semantics for Standardization" (available at > http://people.mech.kuleuven.**be/~tdelaet/geometric_** > relations_semantics/geometric_**relations_semantics_theory.pdf > **), > which is accepted for publication as a tutorial in IEEE Robotics and > Automation Magazine. > ______________________________**_________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/**listinfo/ros-users > -- Tully Foote tfoote@willowgarage.com (650) 475-2827