transform-tree 0.0.3__tar.gz

transform_tree-0.0.3/Cargo.toml

@@ -0,0 +1,231 @@
+[workspace]
+resolver = "2"
+members = [
+    "crates/tf_tree_math",
+    "crates/tf_tree_arena",
+    "crates/tf_tree_core",
+    "crates/tf_tree_ipc",
+    "crates/tf_tree",
+    "crates/tf_tree_bench",
+    "crates/tf_tree_cli",
+    "crates/tf_tree_bridge",
+    "crates/tf_tree_ingest",
+    "crates/tf_tree_c",
+    "xtask",
+]
+# `tf_tree_tf2_sys` bridges to ROS 2's `tf2::BufferCore` and only builds where
+# ROS 2 is installed. Excluding it keeps `cargo build --workspace` working on
+# every host; `tf_tree_bench --features tf2` pulls it in as a path dependency
+# when a ROS toolchain is actually present.
+exclude = [
+    # Links libpython, which a plain `cargo build --workspace` cannot assume is
+    # present — same reasoning as `tf_tree_tf2_sys` and ROS below. Built and
+    # tested by `just py-*`, which point PyO3 at a uv-managed interpreter.
+    "crates/tf_tree_py","crates/tf_tree_tf2_sys"]
+
+[workspace.package]
+# **0.0.1, and the number is a statement about compatibility rather than about
+# maturity.** Under `0.0.x` cargo treats every release as incompatible with
+# every other: `^0.0.1` — which is what a bare `tf_tree = "0.0.1"` means —
+# matches `0.0.1` and nothing else, so a later `0.0.2` reaches no existing
+# dependant through `cargo update`. That is the honest signal for a first
+# publish of an engine whose §0.0 tables still carry open rows: nothing is
+# promised, and every release may break.
+#
+# **This supersedes `SUPPORT.md`'s minor-bump-on-MSRV rule for the whole 0.0.x
+# line, and the tension it creates is stated rather than deleted.** This field
+# read 0.2.0 on the argument that an MSRV bump is a minor-version bump pre-1.0,
+# and that the policy should be applied uniformly rather than skipped when it
+# happens to be cheap — two measured raises, 1.83 → 1.85 → 1.87, two minor
+# slots. Under 0.0.x there is no minor slot for that rule to occupy. The only
+# field left to move is the patch, and a patch release is exactly what the rule
+# says an MSRV bump must never be. What breaks the deadlock is that the rule's
+# purpose — never move the floor under a dependant who resolved by a range —
+# is already served here by the resolver: no range spans two 0.0.x releases, so
+# an MSRV raise reaches nobody who did not opt into it by editing a manifest.
+# The rule comes back into force at 0.1.0, where a minor slot exists again.
+# `SUPPORT.md`'s MSRV section carries the same statement in its own voice.
+version = "0.0.3"
+edition = "2021"
+# **1.87, and each step was forced by a dependency rather than chosen.**
+#
+# 1.83 → 1.85: `cargo +1.83 build --workspace` failed to *parse* a manifest —
+# `blake3 1.8.5` pulls `constant_time_eq 0.4.2`, which is `edition = "2024"` and
+# declares `rust-version = "1.85.0"`. So 1.83 was a promise nothing kept.
+#
+# 1.85 → 1.87: `ruzstd 0.9.0` declares `rust-version = "1.87"`. It is the
+# pure-Rust zstd decoder `tf_tree_ingest` reads compressed MCAP chunks with, and
+# the reason it is pure Rust rather than `zstd-sys` is `docs/PHASE2.md` §2's
+# no-C-build-step rule. `ruzstd 0.7.3` would hold 1.85 and has the same two APIs
+# we need (`decode_all` into a slice, a 100 MiB window cap), so this buys
+# currency and a settable cap, not capability — a deliberate trade, not a
+# necessity.
+#
+# One clarification, because the sentence above invites the wrong reading and the
+# wrong reading is a decompression bomb: that 100 MiB caps the decoder's *window*,
+# i.e. its peak working allocation, and **not** its total output. A frame with a
+# 100 MiB window can still decode to terabytes. What bounds output is
+# `IngestOptions::max_chunk_uncompressed_bytes` and `max_chunk_expansion_ratio`,
+# enforced in `tf_tree_ingest::decompress` before anything is allocated.
+#
+# The `msrv` job in `.github/workflows/ci.yml` reads this field and builds on
+# exactly it, so the next silent drift fails the build instead of shipping.
+# Policy: `SUPPORT.md`.
+rust-version = "1.87"
+# **Each publishable crate carries `LICENSE-MIT`, `LICENSE-APACHE` and `NOTICE`
+# as symlinks to the three files beside this manifest**, because `cargo package`
+# ships only what is inside the package directory and a `.crate` tarball is a
+# redistribution: an Apache-2.0 recipient who vendors `tf_tree_core` needs the
+# licence text and the §4(d) NOTICE *in the tarball*, not a URL to a repository
+# that was private when they downloaded it.
+#
+# Symlinks rather than fifteen copies, and the choice is measured rather than
+# assumed: `cargo package` **dereferences** them, so the tarball holds real
+# regular files with the real bytes — verified on cargo 1.95 with a probe crate
+# whose symlinked `LICENSE-MIT` arrived as `-rw-r--r-- … 22` bytes of content.
+# Copies would be fifteen spellings of three texts, which is the thing
+# `docs/PROJECT.md` §6 exists to stop.
+#
+# The one cost, stated because it is invisible until it bites: a Windows
+# checkout without `core.symlinks` writes each link as a text file containing
+# the *path*, and `cargo publish` from such a checkout would ship a 17-byte file
+# where the MIT licence should be. Publishing happens from Linux; if that ever
+# changes, check a tarball before uploading.
+license = "MIT OR Apache-2.0"
+repository = "https://github.com/NoeFontana/tf_tree"
+homepage = "https://github.com/NoeFontana/tf_tree"
+authors = ["Noé Fontana <noe.fontana.pro@gmail.com>"]
+keywords = ["robotics", "tf", "transform", "se3", "ros"]
+categories = ["science::robotics", "no-std"]
+
+[workspace.lints.clippy]
+unwrap_used = "deny"
+expect_used = "deny"
+panic = "deny"
+todo = "deny"
+unimplemented = "deny"
+dbg_macro = "deny"
+print_stdout = "warn"
+print_stderr = "warn"
+needless_pass_by_value = "warn"
+redundant_clone = "warn"
+
+[workspace.lints.rust]
+missing_docs = "warn"
+unreachable_pub = "warn"
+unused_must_use = "deny"
+# `--cfg loom` is a first-class build mode for tf_tree_core's concurrency tests;
+# registering it workspace-wide keeps `-D warnings` (unexpected_cfgs) happy and
+# lets every crate inherit lints with `[lints] workspace = true`.
+unexpected_cfgs = { level = "warn", check-cfg = ['cfg(loom)'] }
+
+[workspace.dependencies]
+# Intra-workspace crates (version pinned so publishable crates carry a real
+# requirement, not a path wildcard).
+tf_tree_math = { path = "crates/tf_tree_math", version = "0.0.3" }
+tf_tree_arena = { path = "crates/tf_tree_arena", version = "0.0.3" }
+# Phase 2 shared memory (see docs/PHASE2.md §2). Linux-only, opt-in via the
+# `shm` feature; `linux_raw` backend so there is no libc crate and no C build.
+# Only `tf_tree_ipc`, and only for `fcntl(F_OFD_*)`: rustix has no OFD locking
+# (see crates/tf_tree_ipc/src/ofd.rs for why the alternative was worse).
+libc = "0.2"
+rustix = { version = "1.1", default-features = false, features = ["mm", "fs", "std"] }
+# **`default-features = false`, and it is load-bearing.** Without it a
+# downstream `--no-default-features` still gets `tf_tree_core/default`, because
+# a workspace dependency carries its own defaults independently of the
+# depending crate's feature flags. That made `docs/PHASE5.md` §5.5's
+# compile-time switch unreachable *and* silently invalidated §5.7's control
+# measurement — the "counters off" row was measuring the counters-on engine.
+# Every crate that wants them re-enables them through its own `counters`
+# feature, which is what makes the switch actually switch.
+tf_tree_core = { path = "crates/tf_tree_core", version = "0.0.3", default-features = false }
+tf_tree_ipc = { path = "crates/tf_tree_ipc", version = "0.0.3" }
+tf_tree = { path = "crates/tf_tree", version = "0.0.3", default-features = false }
+# publish = false crates, wired by path only (no version requirement published).
+# **`default-features = false` for the same load-bearing reason as `tf_tree`
+# above, and it is easy to miss here.** `tf_tree_bench` has its own
+# `default = ["counters"]` that forwards to `tf_tree/counters`, so without this
+# flag `tf_tree_cli --no-default-features` still linked a counting engine: the
+# CLI's own `counters` feature switched nothing, and `TFT010`'s "built without
+# counters" skip branch was unreachable in every buildable configuration.
+tf_tree_bench = { path = "crates/tf_tree_bench", default-features = false }
+tf_tree_bridge = { path = "crates/tf_tree_bridge" }
+# `docs/PHASE5.md` §3. `default-features = false` for the same reason as
+# `tf_tree` above: the CLI decides whether the engine counts, not this crate.
+tf_tree_ingest = { path = "crates/tf_tree_ingest", default-features = false }
+# no_std numeric + POD casting (the entire core dependency budget, plus blake3).
+libm = "0.2"
+bytemuck = { version = "1", features = ["derive"] }
+blake3 = { version = "1", default-features = false }
+# std-side facade / tooling only.
+thiserror = "2"
+anyhow = "1"
+clap = { version = "4", features = ["derive"] }
+# dev / bench only.
+proptest = "1"
+loom = "0.7"
+criterion = { version = "0.5", features = ["html_reports"] }
+# `tf_tree_bench`'s regression gate reads the committed `results.json` baseline.
+# Already in the lockfile via `criterion`; see that crate's manifest for why the
+# *writer* stays hand-rolled.
+serde_json = "1"
+
+[profile.release]
+lto = "thin"
+codegen-units = 1
+debug = "line-tables-only"
+strip = "debuginfo"
+
+[profile.dev]
+opt-level = 0
+
+[profile.bench]
+lto = "thin"
+codegen-units = 1
+
+# Release code that a profiler can attribute to source lines.
+#
+# `[profile.release]` strips debuginfo, which is right for what ships and wrong
+# for finding anything: cachegrind, perf and callgrind all fall back to
+# function-level attribution, and `fold_at` inlines the entire sampling chain
+# into itself. A function-level profile of this engine therefore says "96.6% of
+# branch mispredicts are in `fold_at`" and stops — true, and useless, because
+# `fold_at` *is* the hot path.
+#
+# Same codegen as release so the numbers transfer; only the debuginfo differs.
+[profile.profiling]
+inherits = "release"
+debug = "full"
+strip = "none"
+
+# **An embedder's `cargo build --release`, spelled out — `docs/PHASE5.md` §9.2's
+# last row and `docs/API.md` §2.3 item 3.**
+#
+# `Plan::at` sits across a crate boundary from every consumer, and what the
+# `#[inline]` attributes on that path buy depends on the *downstream* profile.
+# This workspace's `[profile.release]` sets `lto = "thin", codegen-units = 1`,
+# which is precisely what hides the effect: every number this repository
+# publishes is taken under whole-program optimisation, and a user's node is not.
+# So the embedding row is measured here, and `[profile.release]` is measured as
+# the contrast.
+#
+# **Every field cargo's own release defaults set is written out rather than
+# inherited**, `inherits` notwithstanding. Inheriting only `lto` and
+# `codegen-units` would make this profile track future edits to
+# `[profile.release]` — and then the row would silently stop describing the
+# thing it is named after. `inherits` is mandatory for a custom profile, so it
+# names `release` and then contradicts it field by field.
+# `crates/tf_tree_bench/src/embed.rs` carries a test that reads these values back
+# out of this file, so the report's statement about what it measured is checked
+# rather than asserted.
+[profile.embedder]
+inherits = "release"
+opt-level = 3
+lto = false
+codegen-units = 16
+debug = false
+strip = "none"
+debug-assertions = false
+overflow-checks = false
+incremental = false
+panic = "unwind"

transform_tree-0.0.3/LICENSE-APACHE

@@ -0,0 +1,201 @@
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transform_tree-0.0.3/LICENSE-MIT

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 Noé Fontana
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
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transform_tree-0.0.3/NOTICE

@@ -0,0 +1,30 @@
+tf_tree
+Copyright 2025-2026 Noé Fontana
+
+This product is licensed under either of
+
+  * Apache License, Version 2.0 (see LICENSE-APACHE)
+  * MIT license (see LICENSE-MIT)
+
+at your option.
+
+Unless you explicitly state otherwise, any contribution intentionally submitted
+for inclusion in this work by you, as defined in the Apache-2.0 license, shall
+be dual licensed as above, without any additional terms or conditions.
+
+--------------------------------------------------------------------------------
+
+This file exists to satisfy Apache-2.0 section 4(d) for redistributors. It
+carries no third-party attributions of its own: `tf_tree` vendors no source and
+statically links no code it did not write. Its Rust dependencies are ordinary
+crates.io dependencies, each under its own licence, resolved at build time and
+enumerated in `Cargo.lock`; the set is constrained by `deny.toml` and checked by
+`cargo deny check`, which `just lint` runs.
+
+`tf_tree` is not affiliated with, endorsed by, or derived from the Open Source
+Robotics Foundation, ROS, or the `tf` / `tf2` packages. It is an independent
+implementation that solves the same problem; no ROS source is copied or linked
+into it. The optional `tf2` comparison harness (`crates/tf_tree_tf2_sys`, and
+`crates/tf_tree_bench` behind `--features tf2`) links against a ROS 2 install
+that the person running it provides, is excluded from the workspace, is not
+published, and is not part of any release artifact.