angvec2r
angvec2tr
eul2r
eul2tr
ishomog
isrot
isunit
oa2r
oa2tr
rotx
roty
rotz
rpy2r
rpy2tr
tr2angvec
tr2eul
tr2rpy
transl
trchain
trexp
trinterp
tripleangle
trlog
trnorm
trotx
troty
trotz
trprint
trscale
angvec2tr
eul2r
eul2tr
ishomog
isrot
isunit
oa2r
oa2tr
rotx
roty
rotz
rpy2r
rpy2tr
tr2angvec
tr2eul
tr2rpy
transl
trchain
trexp
trinterp
tripleangle
trlog
trnorm
trotx
troty
trotz
trprint
trscale