Add a helper type for finding multi-step reference frame transformations#111
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We've discussed adding this, and now I've had a real need to do this. This is the MVP implementation for helping find the "shortest path" series of transformations. This is accomplished by building up a graph with the reference frames as vertices and the transformations as edges, then performing a breadth-first search through this graph for the first available path.
Long Term Improvements
I've implemented this functionality as an additional function to avoid breaking API changes. In a future revision I would like to roll up this functionality into the
get_transformation()function and make it transparent, but doing that in the way I am thinking would require adding a new type representing a compound transformation and modifying theTransformationstruct to be able to use it.