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auki-geometry

Synced from the repository

This page mirrors crates/auki-geometry/README.md in the auki-sdk repo (branch develop). The repository is the source of truth.

Pure spatial math over auki-registry frame declarations and auki-datatypes pose types. Phase 1 ships convention conversion — the convention-only layer that sits underneath the future full convert_pose (which will also compose pose-log paths).

No registry IO, no log IO, no networking; just math.

Status: Shipped (Phase 1 — convention conversion only).

Public surface​

  • convert_pose_convention(pose, from, to) — re-express both ends of a SpatialTransform at once, for frames whose only difference is convention.
  • convert_transform_source_convention(transform, from, to), convert_transform_target_convention(transform, from, to) — re-express only one side (input or output) of a from -> to transform, leaving the other side's convention untouched. Reject from/to pairs with mismatched handedness or length units, since a one-sided conversion between those would need a scaled or improper rotation that a quaternion can't represent.
  • convert_point_convention(...), convert_vector_convention(...), convert_direction_convention(...) — the three companion conversions for points, length-bearing vectors, and unitless directions.
  • compose_spatial_transforms(...), inverse_spatial_transform(...), relative_spatial_transform(...) — transform chaining: compose from->mid with mid->to, invert a transform, or derive from->to from two transforms sharing a common frame.
  • spatial_transform_to_matrix4(...), spatial_transform_from_matrix4(...) — convert a SpatialTransform to/from a 4×4 homogeneous matrix.
  • axis_convention_matrix(...), convention_matrix(...), meters_per_unit(...) — the underlying primitives.

Depends on​