.. _kinematics_math:

3.1.7 Kinematics/Math
===================================

.. toctree::
   :maxdepth: 2

   trans
   ikin
   ikin_ex
   ikin_add_iter_threshold
   ikin_norm
   fkin
   addto
   get_orientation_error
   get_solution_space
   coord_transform
   calc_coord
   get_robot_link_info
   set_singularity_handling