Coordinate transformation tree with a focus on efficiency
The goal of this project is to provide the functionality of ROS's TF2 but without the need for the ROS framework or intraprocess communication. By removing that restriction, we aim to allow more efficient transform querying by allowing truly static transforms, cached intermediate connections, and unrestricted tree merging.
Another library pytransform3d also brings the functionality of TF2 to non-ROS users, but is still bound to some of the restrictions of TF2 and so it cannot be optimized for mostly static trees.
Mulberry is available on PyPi so you can install it by pip install mulberry. To install from source, simply pip install . from within the project directory.
This project is still in the very early stages, but any contributions would be appreciated. In addition to code/testing/documentation contributions, please let us know if there are any features which would make this tool more helpful. This will help direct the future of the project.
This code is blackened so make sure to run black mulberry or your tests will fail.
All tests should be placed in the tests/ directory using unittest.
To run all tests, use python -m unittest discover -s tests/.