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