schiebung

Fast, memory-safe in-memory transform graph with time-aware lookups.

schiebung stores time-stamped isometries between named frames and lets you query any frame's pose relative to any other by chaining the edges. It supports lerp/slerp interpolation when the requested timestamp falls between samples, batched updates, and a URDF loader for robotics use.

Useful anywhere you have multiple coordinate systems that move relative to each other — multi-sensor fusion, simulation, motion capture, AR/VR, robotics. The closest analogue is ROS TF2; schiebung is for projects that want the abstraction without pulling in ROS.

• Documentation: https://maximaerz.github.io/schiebung/
• Repository: https://github.com/MaxiMaerz/schiebung
• Rust API guide: https://maximaerz.github.io/schiebung/schiebung-core/rust/

At a glance

use schiebung::{BufferTree, StampedIsometry, TransformType, TransformUpdate};

let mut buffer = BufferTree::new();

buffer.update(&[
    TransformUpdate::new(
        "world",
        "robot_base",
        StampedIsometry::from_secs([0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0], 0.0),
        TransformType::Static,
    ),
])?;

let tf = buffer.lookup_latest_transform("world", "robot_base")?;
# Ok::<(), Box<dyn std::error::Error>>(())

Companion crates

• schiebung-rerun — visualize the transform graph live in Rerun.

License

MIT