.. _utils:

Utility Functions
=================

Camera Utilities
----------------

.. automodule:: sofa_env.utils.camera
    :members:
    :undoc-members:
    :show-inheritance:

Remote Center of Motion
-----------------------

Forward Kinematics
^^^^^^^^^^^^^^^^^^
Matrix
""""""
.. automodule:: sofa_env.utils.pivot_transform
    :members:
    :undoc-members:
    :show-inheritance:

Dual Quaternion
"""""""""""""""
.. automodule:: sofa_env.utils.dquat_pivot_transform
    :members:
    :undoc-members:
    :show-inheritance:

Inverse Kinematics
^^^^^^^^^^^^^^^^^^
Matrix
""""""
.. automodule:: sofa_env.utils.inverse_pivot_transform
    :members:
    :undoc-members:
    :show-inheritance:

Dual Quaternion
"""""""""""""""
.. automodule:: sofa_env.utils.dquat_inverse_pivot_transform
    :members:
    :undoc-members:
    :show-inheritance:

Movement in Image Space
^^^^^^^^^^^^^^^^^^^^^^^
.. automodule:: sofa_env.utils.relative_camera_movement
    :members:
    :undoc-members:
    :show-inheritance:

Human Input
-----------
.. automodule:: sofa_env.utils.human_input
    :members:
    :undoc-members:
    :show-inheritance:

Math Helper
-----------
.. automodule:: sofa_env.utils.math_helper
    :members:
    :undoc-members:
    :show-inheritance:

Dual Quaternions
----------------
.. automodule:: sofa_env.utils.dual_quaternion
    :members:
    :undoc-members:
    :show-inheritance:

Simple Motion Planning
----------------------
.. automodule:: sofa_env.utils.motion_planning
    :members:
    :undoc-members:
    :show-inheritance:

IO
--
.. automodule:: sofa_env.utils.io
    :members:
    :undoc-members:
    :show-inheritance:

SOFA Data Access
----------------
.. automodule:: sofa_env.utils.sofa_data
    :members:
    :undoc-members:
    :show-inheritance:

Robot Utilities
---------------
.. automodule:: sofa_env.utils.robot
    :members:
    :undoc-members:
    :show-inheritance:

Rendering Point Clouds
----------------------
.. automodule:: sofa_env.utils.render
    :members:
    :undoc-members:
    :show-inheritance:

Rapidly Exploring Random Tree
-----------------------------
.. automodule:: sofa_env.utils.rrt
    :members:
    :undoc-members:
    :show-inheritance: