Very interesting. I’ve been working on a small library called SpinStep — it's a Python-based quaternion traversal framework that steps through trees based on orientation thresholds, rather than positional hierarchy. I designed it with spatial decision-making in mind, and while it's still early-stage, it might complement Ketu’s orientation handling or be interesting for modeling formation logic.
Totally open-ended — no expectations at all. Just thought I’d share it in case it aligns with any future ideas you’re exploring.
I like the idea. I"m not able to understand how quaternions alone
can be used to navigate through space without a position translation vector.
The uses cases in the docs for drone control and manipulating kinetic arms with multiple degrees of freedom look promising though.
What does SpinStep provide?
- Is it a traversal framework for quaternions?
- Or it is a constraint solver that computes a series of transformations to make each node in a scene comply with a final end state
If it can be used for translating nodes as well via quaternions I would be interested in implementing a formation coordinator for it.
If you have an idea of what quaternion transformation will help achieve in Ketu and what the end state looks like please do create an issue on the Repo.
I'll see if I can implement it using the concepts in SpinStep.
I wonder what would it take to have the decision-making code (planning/movement.cpp) be Lua, not C++. That would allow to experiment with algorithm variation very quickly, e.g. just updating a file with Lua code, without recompiling and restarting.
I don't have any experience with Lua but looking around I think it should be easy to load the formation coordinator / node implementations as Lua files that can be hot reloaded without re-compiling.
Very interesting. I’ve been working on a small library called SpinStep — it's a Python-based quaternion traversal framework that steps through trees based on orientation thresholds, rather than positional hierarchy. I designed it with spatial decision-making in mind, and while it's still early-stage, it might complement Ketu’s orientation handling or be interesting for modeling formation logic.
Totally open-ended — no expectations at all. Just thought I’d share it in case it aligns with any future ideas you’re exploring.
https://github.com/VoxleOne/SpinStep
I like the idea. I"m not able to understand how quaternions alone can be used to navigate through space without a position translation vector.
The uses cases in the docs for drone control and manipulating kinetic arms with multiple degrees of freedom look promising though.
What does SpinStep provide? - Is it a traversal framework for quaternions? - Or it is a constraint solver that computes a series of transformations to make each node in a scene comply with a final end state
If it can be used for translating nodes as well via quaternions I would be interested in implementing a formation coordinator for it.
If you have an idea of what quaternion transformation will help achieve in Ketu and what the end state looks like please do create an issue on the Repo. I'll see if I can implement it using the concepts in SpinStep.
Cool!
One suggestion, your language can be more specific, I had a hard time figuring out what was going on. You know this will be for drone formations, so:
"Every simulation is modelled as a scenario. You can add multiple nodes to your world in a scenario."
A scenario is a single formation? or Multiple formations (with the transitions encapsulated)? Nodes are just drones?
I realize you might be adopting the language from some ROS framework, but for you specific situation you can make it so much easier to read!
Thanks, I updated the description in the README to make it more clear. Feel free to create an issue on the repo if anything is unclear!
I wonder what would it take to have the decision-making code (planning/movement.cpp) be Lua, not C++. That would allow to experiment with algorithm variation very quickly, e.g. just updating a file with Lua code, without recompiling and restarting.
I don't have any experience with Lua but looking around I think it should be easy to load the formation coordinator / node implementations as Lua files that can be hot reloaded without re-compiling.
Great suggestion! I've created an issue to keep track of this. https://github.com/sushrut141/ketu/issues/8
I will definitely look into this once Ketu gains more traction. REPLit like behaviour would help more people try things out.