This library originated from my need to handle 3D transformations, poses, trajectories, etc. from various software systems that often use different conventions.

This library originated from my need to handle 3D transformations, poses, trajectories, etc. from various software systems that often use different conventions. It has been developed for more than 7 years now and is in a fairly robust and well-tested state. It might be useful, for instance, in robotics, computer vision, motion capture, ...