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## Overview

`transform_graph` is a library for computing transformations between coordinate frames in an arbitrary graph structure.

`transform_graph`is not a distributed system. Programmers simply create and use the transform_graph graph as an object in memory.`transform_graph`does not keep track of transformations over time.- The transform graph does not have to be structured in a tree. Instead, frames can be arranged in an arbitrary graph (weakly connected, cyclic, disconnected, etc.)
`transform_graph`does not depend on ROS except to convert from common message types. As a result, you do not need to run a ROS master to use`transform_graph`, and it is suitable for use in pure unit tests.

## Quick start

The library's generated documentation explains how to use `transform_graph` in detail. Below are a few quick examples illustrating how it can be used.

`transform_graph::Graph` maintains the graph of transformations and is the primary interface to transform_graph:

Add frames to the graph using `transform_graph::Graph::Add`:

Get points in different frames using `transform_graph::Graph::DescribePosition`. In this example, we want to know what a point 10 cm in front of the robot's wrist is, expressed in the base frame: