Core: The core component provides the basic infrastructure that is used by all other components.
Geometry: The geometry component provides basic data structures and operations for manipulating geometric quantities such as points, vectors, and coordinate systems. These are fundamental elements which are used to build most other components.
Mapping: The mapping component provides data structures for generating dense rectangular maps, with information stored in each map cell, and algorithms for populating maps from other data structures (e.g. converting a tagged point cloud into an occupancy grid).