Future: Support for sparse matrices in the protocol #53
At the moment, UAVCAN does not support sparse matrices at the protocol level, but rather delegates the issue to the user via matrix packing recommendations.
Native support for sparse matrices will remove the work of ensuring correct packing/unpacking from applications, which will likely have positive effect on simplicity and reliability.
The feature can be probably added in a backward-compatible way. It has not been included in the first revision of the specification due to the following:
There is an experimental branch in the pyuavcan repository, that contains a simple modification to the DSDL parser that enables support for matrices. It is based on two new syntax constructs: