helsing-ai/sguaba ? reverse-engineered prompt

Build me a Rust library for rigid body transforms and spatial math that is hard to misuse.

I want strong typed coordinates and vectors that are tied to specific coordinate systems, so it’s difficult to accidentally mix up values from different spaces. Please include a way to define custom coordinate systems for things like a plane frame or sensor frame, and make the common earth related systems work too, like WGS84, ECEF, NED, FRD, and ENU.

I also want an easier engineering style API for working with poses and orientations, plus a more math focused API for transforms and rotations. The library should let me safely convert between coordinate systems, chain transforms, and work with position, orientation, and bearing angle style observations. If it helps, look up current docs online for any details you need, but keep the public API intuitive and well documented with examples.