Interoperability across implementation: The libdrdc data standards library

This paper presents the libdrdc data standards library containing internal nomenclature, definitions, units of measure, coordinate reference frames, and representations for use in autonomous systems research. This library is a configurable, portable C / C++ / object oriented C library developed to be independent of software middleware, system architecture, processor, or operating system. It is designed to use the automatically-tuned linear algebra suite (ATLAS) and basic linear algebra suite (BLAS) and port to firmware and software. The library goal is to unify data collection and representation for various systems and communication protocols and to provide a common application programmer interface (API) for research projects at all scales. The library supports multi-platform development and currently works on Windows, Unix, GNU/Linux, and real-time executive for multiprocessor systems (RTEMS). This library is available online under the Lesser GNU Public License (LGPL) version 2.1.