SE3/SO3 Discussion 6/5/2022

[qhdwight]

• SO3: group of rotations
• SE3: point and rotation
• No meaningful difference between a pose and transform, so just use one class. HOWEVER, this means that the naming should be clear, for example: frame1ToFrame2 or objectInFrame
• For SE3 class don't inherit from Pose or Transform, just use raw numpy arrays
• Conversions should be done when needing to submit/receive from topic
• Should also have access to get matrix or quaternion for rotation, but try to provide convenience methods when possible. Code reviews should make sure you are not getting the raw data structure when you don't need to