This directory contains wrappers in order to provide a more uniform system of accessing various APIs.

RAIL has been designed to be a more "customizable" library where templates can be used with either primitive or custom types. This is due to some teams using floats while other teams are using units.h (well, one - us).

units.h is a well-tested library used within a variety of industries. Yes, that means that there are in fact satellites which rely upon it for calculations. Because the type system doesn't have the concise names, it has been decided to create aliases in order that the type handled could be just Seconds instead of units::time etc.

Traproot (taproot wrappers) were created due to the oddities of taproot. Taproot has been a godsend for Fang Robotics; nevertheless, the overuse of raw pointers, out parameters, and the lack of dimensional analysis support meant that in order to have an organized method of using it, units.h wrappers were created. This is a zero cost abstraction. Bugs involving dimensional analysis where a flurry of units are mangled in a log chain of conversion can be painstaking to locate. By enforcing dimensional consistency, the programmer is assured that at least the formulas make sense. Units.h also does automatic conversion between compatible units.