# API Reference

## Coordinate frames

```{eval-rst}
.. autoclass:: coordframe.CoordFrame
    :members:
    :special-members: __repr__
```

## Point clouds

```{eval-rst}
.. autoclass:: coordframe.PointCloud
    :members:
    :special-members: __call__, __len__
```

## Quaternions

```{eval-rst}
.. autoclass:: coordframe.Quat
    :members:
    :special-members: __getitem__, __invert__, __mul__
```

## Helpers

```{eval-rst}
.. autofunction:: coordframe.transform

.. autofunction:: coordframe.m4

.. autofunction:: coordframe.v4

.. autofunction:: coordframe.apply_matrix

.. autofunction:: coordframe.normal2tfmat

.. autofunction:: coordframe.twisttf

.. autofunction:: coordframe.scaletf

.. autofunction:: coordframe.norm_vec
```