Refactor compose/inverse, replace slerp with nlerp, add benchmarks and docs

README.md

@@ -6,29 +6,65 @@ Mutex-free tf2 alternative for ROS 2. An experimental rewrite of tf2's `BufferCo
 
 tf2's `BufferCore` uses `std::mutex` to protect shared data. This means all concurrent access — including reads — is serialized. tfl is an experimental attempt to remove mutex locks entirely, using SeqLock + wait-free hash map to allow concurrent reads without blocking.
 
-## Benchmark
-
-See [benchmark/README.md](benchmark/README.md).
-
 ## Packages
 
 | Package | Description |
 |---------|-------------|
 | `tfl` | Core library. No ROS dependencies. Mutex-free transform buffer. |
 | `tfl_ros` | ROS 2 integration. Subscribes to `/tf` and `/tf_static`, feeds into `tfl::TransformBuffer`. |
 
+## Prerequisites
+
+- Docker
+
+`run.sh` wraps `docker run` with `--user $(id -u):$(id -g)` so that build artifacts are owned by your user, not root. On first run it builds the Docker image automatically.
+
+## Setup
+
+```bash
+# Create colcon workspace with symlinks
+mkdir -p ws/src
+ln -s ../../tfl ws/src/tfl
+ln -s ../../tfl_ros ws/src/tfl_ros  # optional
+```
+
 ## Build
 
 ```bash
-ROS_DISTRO=jazzy ./run.sh bash -c \
-  "cd benchmark/ws \
-   && source /opt/ros/\$ROS_DISTRO/setup.bash \
+# tfl only
+./run.sh bash -c \
+  "source /opt/ros/\$ROS_DISTRO/setup.bash \
+   && cd ws \
+   && colcon build --packages-select tfl"
+
+# tfl + tfl_ros
+./run.sh bash -c \
+  "source /opt/ros/\$ROS_DISTRO/setup.bash \
+   && cd ws \
    && colcon build --packages-select tfl tfl_ros"
 ```
 
-## Example
+## Test
+
+```bash
+./run.sh bash -c \
+  "source /opt/ros/\$ROS_DISTRO/setup.bash \
+   && cd ws \
+   && colcon test --packages-select tfl \
+   && colcon test-result --verbose"
+```
+
+## Benchmark
+
+```bash
+./run.sh bash -c \
+  "source /opt/ros/\$ROS_DISTRO/setup.bash \
+   && cd ws \
+   && source install/setup.bash \
+   && ./build/tfl/bench_lookup"
+```
 
-Coming soon.
+For tf2 comparison benchmarks, see [benchmark/README.md](benchmark/README.md).
 
 ## Design
 
@@ -62,9 +98,8 @@ Writer thread (single)          Reader threads (many)
 
 ## Requirements
 
-- C++17
-- CMake 3.14+
-- ROS 2 Jazzy or Rolling (for tfl_ros; tfl itself has no ROS dependency)
+- Docker (for building via `run.sh`)
+- Or: C++17, CMake 3.14+, ROS 2 Jazzy or Rolling
 
 ## License
 

run.sh

@@ -13,7 +13,7 @@ fi
 docker run --rm \
   --user "$(id -u):$(id -g)" \
   -v "$REPO_ROOT:$REPO_ROOT" \
-  -w "$(pwd)" \
+  -w "$REPO_ROOT" \
   -e HOME=/tmp/home \
   -e "ROS_DISTRO=${ROS_DISTRO}" \
   "$IMAGE_NAME" \

tfl/CMakeLists.txt

@@ -46,6 +46,9 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_stress test/test_stress.cpp TIMEOUT 30)
   target_link_libraries(test_stress ${PROJECT_NAME})
+
+  add_executable(bench_lookup test/bench_lookup.cpp)
+  target_link_libraries(bench_lookup ${PROJECT_NAME})
 endif()
 
 ament_package()

tfl/include/tfl/transform_buffer.hpp

@@ -59,22 +59,6 @@ class TransformBuffer
   void clear();
 
 private:
-  struct TransformAccum
-  {
-    TransformData::Quat source_to_top_quat = {0, 0, 0, 1};
-    TransformData::Vec3 source_to_top_vec = {0, 0, 0};
-    TransformData::Quat target_to_top_quat = {0, 0, 0, 1};
-    TransformData::Vec3 target_to_top_vec = {0, 0, 0};
-    TimeNs time = 0;
-
-    void accum_source(const TransformData & st);
-    void accum_target(const TransformData & st);
-    TransformData finalize_identity() const;
-    TransformData finalize_target_parent_of_source() const;
-    TransformData finalize_source_parent_of_target() const;
-    TransformData finalize_full_path() const;
-  };
-
   FrameID register_frame(const std::string & name, bool is_static = false);
   FrameID resolve_frame_id(const std::string & name) const;