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cu_transform/
lib.rs

1pub mod error;
2pub mod frames;
3pub mod interpolation;
4pub mod transform;
5pub mod transform_payload;
6pub mod tree;
7pub mod velocity;
8mod velocity_cache;
9
10#[cfg(test)]
11mod test_utils;
12
13use arrayvec::ArrayString;
14
15/// Frame identifier strings
16pub type FrameIdString = ArrayString<64>;
17
18pub use error::{TransformError, TransformResult};
19pub use frames::{
20    BaseFrame, CameraFrame, FrameId, FramePair, ImuFrame, LidarFrame, RobotFrame, WorldFrame,
21};
22pub use frames::{BaseToRobot, RobotToCamera, RobotToImu, RobotToLidar, WorldToBase, WorldToRobot};
23pub use interpolation::interpolate_transforms;
24pub use transform::{ConstTransformBuffer, StampedTransform, TransformBuffer, TransformStore};
25pub use transform_payload::{
26    FrameTransform, TypedTransform, TypedTransform3D, TypedTransformBuffer,
27};
28pub use tree::TransformTree;
29pub use velocity::VelocityTransform;
30
31pub use cu_spatial_payloads::Transform3D;
32pub use cu29::prelude::CuMsg;