Announcing the geometric relations semantics software

Dear orocos-user and orocos-developer,

With this email I want to announce the "geometric-relations-semantics" 
software (http://www.orocos.org/wiki/geometric-relations-semantics-wiki).

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 comments!

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.



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