| affine_trans_point_3d | Apply an arbitrary affine 3D transformation to points. |
| convert_pose_type | Change the representation type of a 3D pose. |
| create_pose | Create a 3D pose. |
| get_pose_type | Get the representation type of a 3D pose. |
| hom_mat3d_compose | Multiply two homogeneous 3D transformation matrices. |
| hom_mat3d_identity | Generate the homogeneous transformation matrix of the identical 3D transformation. |
| hom_mat3d_invert | Invert a homogeneous 3D transformation matrix. |
| hom_mat3d_rotate | Add a rotation to a homogeneous 3D transformation matrix. |
| hom_mat3d_rotate_local | Add a rotation to a homogeneous 3D transformation matrix. |
| hom_mat3d_scale | Add a scaling to a homogeneous 3D transformation matrix. |
| hom_mat3d_scale_local | Add a scaling to a homogeneous 3D transformation matrix. |
| hom_mat3d_to_pose | Convert a homogeneous transformation matrix into a 3D pose. |
| hom_mat3d_translate | Add a translation to a homogeneous 3D transformation matrix. |
| hom_mat3d_translate_local | Add a translation to a homogeneous 3D transformation matrix. |
| pose_to_hom_mat3d | Convert a 3D pose into a homogeneous transformation matrix. |
| read_pose | Read a 3D pose from a text file. |
| set_origin_pose | Translate the origin of a 3D pose. |
| write_pose | Write a 3D pose to a text file. |