Here are the classes, structs, unions and interfaces with brief descriptions:
  R3D | A 3D rotation |
| T3D | A 3D affine transformation |
| T3DAny | Abstract representation |
| T3DBryan | Tait-Bryan angles and translation |
| T3DMatrix | Homogeneous matrix |
| T3DUBryan | Uncertain Tait-Bryan angles and translation |
| T3DUMatrix | Uncertain Homogeneous matrix |
| T3DUVector | Uncertain rotation vector and translation |
| T3DVector | Rotation vector and translation |
 V3D | A 3D vector |
