Re: Data structures

Stramigioli, S wrote :
| I agree 100% and I do believe that this is the VERY first step to be taken:
| define classes of data structures and their form:
| 
| Positions
|  - Point
|  - Rigid Body
|    - (Bi)Quaternions
|    - SE(3)
|    - ....
|  - Mechanisms
|    ......
| Velocities
|  - Point
|  - Rigid Bosy

The sad thing is that it implies a centralized description, that has to
be shared among every user. We know that maintaining such centralized
information is a very difficult task.
Moreover, there's a performance issue since there's often a tradeoff
between efficiency and generality...