[ros-users] Design decisions behind libTF...?

[Blaise Gassend]

> - The previous remarks are all about the separation of the "4Cs" (which is
>   my pet software design guideline): to try to separate the Computation, the
>   Communication, the Configuration and the Coordination that take place in
>   components. (BTW, this is something that ROS is rather bad at... I can
>   show you dozens of "horror stories" in (core) ROS packages where all 4Cs
>   are coupled in horrible ways.)

Is there a particular reference you would recommend for becoming more
familiar with this design guideline?