Background Math and Geometry
============================

.. toctree::
   :maxdepth: 2
   :caption: Contents:

   background-math/points-lines
   background-math/dualquaternions
   background-math/motions_and_factorization
   background-math/studys-kinematics
   background-math/joint-angle-to-t
   background-math/comb-optim
   background-math/motion-interp-4p
   background-math/affine-metric