This package provides functionality to work with SE3 poses, transforms etc. The heavy lifting is done by Peter Corke's spatial-math package. We simply wrap a subset of its features to make it more verbose and self-explanatory.
The package contains an SE3Container class for converting between different representations of SE3 poses (and hence SO3 rotations as well).
Furthermore a few common operations on points and poses (such as changing the frame in which they are represented) are provided for convenience.