softmata-core

Foundational robotics types and traits for the SOFTMATA ecosystem.

What's inside

Geometry — Pose2D, Pose3D, Vector2/3, Quaternion, Transform2D/3D, Twist, Wrench, Accel, covariance wrappers. Backed by nalgebra.

Sensor traits — ScanData, ImuData, OdometryData, JointData, ImageData, PointCloudData, DepthImageData, WrenchData, BatteryData, RangeData, TemperatureData, MagneticFieldData, GamepadData. Write algorithms against traits, swap implementations freely.

Point types — PointXYZ, PointXYZI, PointXYZRGB, PointXYZNormal. #[repr(C)] for zero-copy interop.

Time — Timestamp, Duration, Rate with nanosecond precision.

Quick start

[dependencies]
softmata-core = "0.1"

use softmata_core::prelude::*;

let pose = Pose2D::new(1.0, 2.0, 0.0);
let goal = Pose2D::new(5.0, 3.0, 1.57);
println!("distance: {:.2}m", pose.distance_to(&goal));

let rate = Rate::from_hz(30.0);
println!("period: {:.1}ms", rate.period_secs() * 1000.0);

no_std support

Disable the default std feature for embedded / bare-metal targets:

[dependencies]
softmata-core = { version = "0.1", default-features = false }

All types derive Serialize/Deserialize via serde (also no_std compatible).

License

Apache-2.0