3D geometry

Contents

• Coordinate systems

Titan-Processing includes a large 3D geometry library. It is unfortunately somewhat buggy; we’d like contributions to help fix bugs. Additionally, we will probably use Eigen for some of our 3D geometry purposes, however the current API will stay to expose the functions most commonly needed and to convert between the coordinate systems in common use in FRC and in the codebase.

Good external articles

• 3D rotations – extremely in-depth, C++ code examples

  • Wikipedia article – much shorter, but much more jargon and no code examples