Flexible framework to maintain multiple an floating coordinate systems

Management of coordinate systems for robotics requires more flexible framework than one for GIS (geographical information systems). In general, all coordinate systems used in GIS (geographical information systems) is grounded to the global coordinate systems. On the other hand, there are several cases where it is difficult to ground the coordinate systems in robotics area. Therefore, the robot need to have its own coordinate system, which may not be grounded to another stable coordinate systems. In order to provide a solution to the issue of coordinate systems for robotics, we propose a new framework of coordinate systems and transformations. we handle a (user-defined) coordinate system as an atomic concept, which can be defined independently with other coordinate systems. Then relations between two coordinate systems are defined afterword. Therefore, it is possible to have a coordinate system that has no relation to the global coordinate system. Moreover, it is also possible to define multiple relation between two coordinate systems.