https://github.com/arfur-rs/frames

Contextual frames made simple.
https://github.com/arfur-rs/frames

Last synced: 14 days ago
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Contextual frames made simple.

• Host: GitHub
• URL: https://github.com/arfur-rs/frames
• Owner: arfur-rs
• License: mit
• Created: 2022-06-23T19:58:43.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2022-07-03T15:25:45.000Z (over 2 years ago)
• Last Synced: 2024-03-15T04:09:43.542Z (10 months ago)
• Language: Rust
• Homepage: https://lib.rs/frames
• Size: 137 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • License: LICENSE.md

Awesome Lists containing this project

README

        
![Frames](./docs/assets/header-long.png)



    License

  · Docs





    

    

    





You want to move your robot from point A to point B. That's all you ever want to do, really. The question is, how do you model the multiple frames that exist in your environment?

Say you have the following:

![Example figure](./docs/assets/fig-a.png)

In short — Frames solves for `(x, y, θ)` like so:

```rust

use frames::prelude::*;

use nalgebra::{Isometry2, Vector2};

use std::f32::consts::PI;

fn main() -> Result<(), FrameError> {

    let mut frames = Frames::new();

    let field = Frame::new("field");

    let robot = Frame::new("robot");

    frames.add_frame(field, Isometry2::new(Vector2::new(0., 0.), 0.))?;

    frames.add_frame(robot, Isometry2::new(Vector2::new(1., 1.), PI))?;

    let x = Point::new("x");

    frames.add_point_in_context(

        x,

        Isometry2::new(Vector2::new(7., 5.), PI),

        field,

    )?;

    assert_eq!(

        frames.get_point_in_context(x, robot)?,

        Isometry2::new(Vector2::new(6., 4.), 0.)

    );

    Ok(())

}

```

## Features

 * **Efficient** — optimized, no-nonsense calculations.

 * **Scalable** — calculate in any dimensions.

 * **Type-safe** — errors can be seen at compile-time.