The geometric relations semantics software (C++) implements the geometric relation semantics theory, hereby offering support for semantic checks for your rigid body relations calculations. This will avoid commonly made errors, and hence reduce application and, especially, system integration development time considerably. The proposed software is to our knowledge the first to offer a semantic interface for geometric operation software libraries.

The screenshot below shows the output of the semantic checks of the (wrong) composition of two positions and two orientations.

Output of the semantic checks of the (wrong) composition of two positions and two orientations

The goal of the software is to provide semantic checking for calculations with geometric relations between rigid bodies on top of existing geometric libraries, which are only working on specific coordinate representations. Since there are already a lot of libraries with good support for geometric calculations on specific coordinate representations (The Orocos Kinematics and Dynamics library, the ROS geometry library, boost, ...) we do not want to design yet another library but rather will extend these existing geometric libraries with semantic support. The effort to extend an existing geometric library with semantic support is very limited: it boils down to the implementation of about six function template specializations.