feat(autoware): use nalgebra for common types

applications/autoware/common_types/Cargo.toml

@@ -4,3 +4,4 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
+nalgebra = { version = "0.35", default-features = false, features = ["libm"] }

applications/autoware/common_types/src/lib.rs

@@ -1,21 +1,27 @@
+//! This crate defines data types that are common to the Autoware project.
+//!
+//! For algebraic operations and transformations, this crate relies on nalgebra.
+//! This implies some differences from the conventions used in ROS.
+//!
+//! For example, quaternions are represented using nalgebra's convention rather than ROS's.
+//! `nalgebra`'s quaternion convention is `Quaternion::new(w, i, j, k)`.
+//! On the other hand, ROS uses the `(x, y, z, w)` convention for quaternions.
+//!
+//! We will use nalgebra's convention throughout this crate,
+//! and only convert to/from ROS's convention at I/O boundaries.
+//! ROS compatibility functions are marked as deprecated, and should only be used for interfacing with ROS
+//! or for maintaining compatibility with existing ROS-based code.
+
 #![no_std]
+
 extern crate alloc;
 
+pub mod transform;
+
 #[derive(Debug, Clone)]
 pub struct Header {
     pub frame_id: &'static str,
     pub timestamp: u64,
 }
 
-#[derive(Debug, Clone)]
-pub struct Vector3 {
-    pub x: f64,
-    pub y: f64,
-    pub z: f64,
-}
-
-impl Vector3 {
-    pub fn new(x: f64, y: f64, z: f64) -> Self {
-        Self { x, y, z }
-    }
-}
+pub use nalgebra::{Quaternion, UnitQuaternion, Vector3};