Currently, documentation about this package can be found here:

• Description of the object representation used in KnowRob, supporting spatio-temporal descriptions of object poses: http://www.knowrob.org/doc/object_pose_representation

• Explicit representation of coordinate systems and different methods for converting between them: http://www.knowrob.org/doc/coordinate_systems

• Representation of different kinds of maps: http://www.knowrob.org/doc/environment_map_meta_information