{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:X4JSO6R36GB55P7IGZHAHXS6AS","short_pith_number":"pith:X4JSO6R3","canonical_record":{"source":{"id":"1805.01810","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-04T14:55:57Z","cross_cats_sorted":[],"title_canon_sha256":"f0a24cdf188caaf40cd5571c292f1ce979e0dd5c18e16b0d84378387d8aa9f0a","abstract_canon_sha256":"01e985ceb4002cb2ef9332bfb3377cf133b895fcb3dd52dba49b02b520562dce"},"schema_version":"1.0"},"canonical_sha256":"bf13277a3bf183debfe8364e03de5e04a50b94828971eafcdc70a45b7263ba2c","source":{"kind":"arxiv","id":"1805.01810","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.01810","created_at":"2026-05-18T00:16:46Z"},{"alias_kind":"arxiv_version","alias_value":"1805.01810v1","created_at":"2026-05-18T00:16:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.01810","created_at":"2026-05-18T00:16:46Z"},{"alias_kind":"pith_short_12","alias_value":"X4JSO6R36GB5","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_16","alias_value":"X4JSO6R36GB55P7I","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_8","alias_value":"X4JSO6R3","created_at":"2026-05-18T12:33:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:X4JSO6R36GB55P7IGZHAHXS6AS","target":"record","payload":{"canonical_record":{"source":{"id":"1805.01810","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-04T14:55:57Z","cross_cats_sorted":[],"title_canon_sha256":"f0a24cdf188caaf40cd5571c292f1ce979e0dd5c18e16b0d84378387d8aa9f0a","abstract_canon_sha256":"01e985ceb4002cb2ef9332bfb3377cf133b895fcb3dd52dba49b02b520562dce"},"schema_version":"1.0"},"canonical_sha256":"bf13277a3bf183debfe8364e03de5e04a50b94828971eafcdc70a45b7263ba2c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:16:46.641502Z","signature_b64":"koO2po0blnkRn0/XubKxZrZsDEqzVyTO3VnCRO5lTVBKES+vwAQ+JHspitb1SCQ3ZGWD05oCw/FetKs1gzoEAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bf13277a3bf183debfe8364e03de5e04a50b94828971eafcdc70a45b7263ba2c","last_reissued_at":"2026-05-18T00:16:46.640968Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:16:46.640968Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1805.01810","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:16:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hzd98FiPyBR0ZNWBieTQe1fnBLRtcZ+jB6/7yznUUzBNfdOAf2jK/n8HpMJTEq0nifgKr2klu0TKybvLdL8VBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T12:59:52.826804Z"},"content_sha256":"f126fc8eca6bd6b27622078b729deedd24b4b0c8b88d4597fbf8872d6856fa87","schema_version":"1.0","event_id":"sha256:f126fc8eca6bd6b27622078b729deedd24b4b0c8b88d4597fbf8872d6856fa87"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:X4JSO6R36GB55P7IGZHAHXS6AS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Manifold Geometry with Fast Automatic Derivatives and Coordinate Frame Semantics Checking in C++","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Leonid Koppel, Steven L. Waslander","submitted_at":"2018-05-04T14:55:57Z","abstract_excerpt":"Computer vision and robotics problems often require representation and estimation of poses on the SE(3) manifold. Developers of algorithms that must run in real time face several time-consuming programming tasks, including deriving and computing analytic derivatives and avoiding mathematical errors when handling poses in multiple coordinate frames. To support rapid and error-free development, we present wave_geometry, a C++ manifold geometry library with two key contributions: expression template-based automatic differentiation and compile-time enforcement of coordinate frame semantics. We con"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.01810","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:16:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5hQXCz9GuIOwWJ1XyZ4+4klkv6hxDlhV5sqgZ2A0zfPw/nLFklNwXBNqHnEmBpqxBpdchmhDIYs9dMxwPcU0CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T12:59:52.827282Z"},"content_sha256":"93437feab1d776764f85e6db8e302df89550e1c40c5e88adc34f3483a08b14b8","schema_version":"1.0","event_id":"sha256:93437feab1d776764f85e6db8e302df89550e1c40c5e88adc34f3483a08b14b8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/X4JSO6R36GB55P7IGZHAHXS6AS/bundle.json","state_url":"https://pith.science/pith/X4JSO6R36GB55P7IGZHAHXS6AS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/X4JSO6R36GB55P7IGZHAHXS6AS/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-05-27T12:59:52Z","links":{"resolver":"https://pith.science/pith/X4JSO6R36GB55P7IGZHAHXS6AS","bundle":"https://pith.science/pith/X4JSO6R36GB55P7IGZHAHXS6AS/bundle.json","state":"https://pith.science/pith/X4JSO6R36GB55P7IGZHAHXS6AS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/X4JSO6R36GB55P7IGZHAHXS6AS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:X4JSO6R36GB55P7IGZHAHXS6AS","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"01e985ceb4002cb2ef9332bfb3377cf133b895fcb3dd52dba49b02b520562dce","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-04T14:55:57Z","title_canon_sha256":"f0a24cdf188caaf40cd5571c292f1ce979e0dd5c18e16b0d84378387d8aa9f0a"},"schema_version":"1.0","source":{"id":"1805.01810","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.01810","created_at":"2026-05-18T00:16:46Z"},{"alias_kind":"arxiv_version","alias_value":"1805.01810v1","created_at":"2026-05-18T00:16:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.01810","created_at":"2026-05-18T00:16:46Z"},{"alias_kind":"pith_short_12","alias_value":"X4JSO6R36GB5","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_16","alias_value":"X4JSO6R36GB55P7I","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_8","alias_value":"X4JSO6R3","created_at":"2026-05-18T12:33:01Z"}],"graph_snapshots":[{"event_id":"sha256:93437feab1d776764f85e6db8e302df89550e1c40c5e88adc34f3483a08b14b8","target":"graph","created_at":"2026-05-18T00:16:46Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"Computer vision and robotics problems often require representation and estimation of poses on the SE(3) manifold. Developers of algorithms that must run in real time face several time-consuming programming tasks, including deriving and computing analytic derivatives and avoiding mathematical errors when handling poses in multiple coordinate frames. To support rapid and error-free development, we present wave_geometry, a C++ manifold geometry library with two key contributions: expression template-based automatic differentiation and compile-time enforcement of coordinate frame semantics. We con","authors_text":"Leonid Koppel, Steven L. Waslander","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-04T14:55:57Z","title":"Manifold Geometry with Fast Automatic Derivatives and Coordinate Frame Semantics Checking in C++"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.01810","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:f126fc8eca6bd6b27622078b729deedd24b4b0c8b88d4597fbf8872d6856fa87","target":"record","created_at":"2026-05-18T00:16:46Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"01e985ceb4002cb2ef9332bfb3377cf133b895fcb3dd52dba49b02b520562dce","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-04T14:55:57Z","title_canon_sha256":"f0a24cdf188caaf40cd5571c292f1ce979e0dd5c18e16b0d84378387d8aa9f0a"},"schema_version":"1.0","source":{"id":"1805.01810","kind":"arxiv","version":1}},"canonical_sha256":"bf13277a3bf183debfe8364e03de5e04a50b94828971eafcdc70a45b7263ba2c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bf13277a3bf183debfe8364e03de5e04a50b94828971eafcdc70a45b7263ba2c","first_computed_at":"2026-05-18T00:16:46.640968Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:16:46.640968Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"koO2po0blnkRn0/XubKxZrZsDEqzVyTO3VnCRO5lTVBKES+vwAQ+JHspitb1SCQ3ZGWD05oCw/FetKs1gzoEAw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:16:46.641502Z","signed_message":"canonical_sha256_bytes"},"source_id":"1805.01810","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f126fc8eca6bd6b27622078b729deedd24b4b0c8b88d4597fbf8872d6856fa87","sha256:93437feab1d776764f85e6db8e302df89550e1c40c5e88adc34f3483a08b14b8"],"state_sha256":"eec7aee6907c55e2afd262090530be684bb6cde09cf10f707ab5ada34d6a9bcf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RPSYxxghzwkpnETXh5kHFSjA6Qk3ZaePQ3xxgKdhntyT8ALmOY9lM6E66a9bP9RMnf4DwLha7PyaEUnFGHpjCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T12:59:52.830844Z","bundle_sha256":"d21e6b8c566e5fc439833e633a8db0c1b9596712f1fc26505823b3f8f70e383f"}}