I've done something similar at $WORK for a small project in C++, and I found it extremely helpful in building trust in calculations. Once you do something like this it feels almost insane to do it the typical way where all the calculations are basically manually inlined. Working on robotic systems you're nearly guaranteed to run into a convention mismatch that causes a bug and strong typing it helps eliminate most classes of these bugs (except when you have dynamic frames, but then you can use a dynamic frame tree registry). I need to see if I can open source it.

Just using strong typing to separate the notion of a "position" (looks like it's Cooordinate in sguaba's parlance) from a "vector" alone saves a lot of headaches in making illegal operations like adding two positions.