//! Coordinate-frame transform buffer for RobotRT.
//!
//! Provides:
//! - [`Vec3`] -- 3-D position vector.
//! - [`Quat`] -- unit quaternion (rotation), with SLERP support.
//! - [`Transform`] -- rigid-body transform (position + rotation) with linear
//!   interpolation.
//! - [`TransformBuffer`] -- time-indexed buffer of stamped transforms per
//!   `(frame_from, frame_to)` pair, with `broadcast` / `lookup_transform`.

pub mod buffer;
pub mod types;

pub use buffer::{TfError, TransformBuffer};
pub use types::{Quat, StampedTransform, Transform, Vec3};
