# wpimath.geometry Package

 `CoordinateAxis`(x, y, z) A class representing a coordinate system axis within the NWU coordinate system. `CoordinateSystem`(positiveX, positiveY, positiveZ) A helper class that converts Pose3d objects between different standard coordinate frames. `Pose2d`(*args, **kwargs) Represents a 2D pose containing translational and rotational elements. `Pose3d`(*args, **kwargs) Represents a 3D pose containing translational and rotational elements. `Quaternion`(*args, **kwargs) Represents a quaternion. `Rotation2d`(*args, **kwargs) A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine). `Rotation3d`(*args, **kwargs) A rotation in a 3D coordinate frame represented by a quaternion. `Transform2d`(*args, **kwargs) Represents a transformation for a Pose2d in the pose's frame. `Transform3d`(*args, **kwargs) Represents a transformation for a Pose3d in the pose's frame. `Translation2d`(*args, **kwargs) Represents a translation in 2D space. `Translation3d`(*args, **kwargs) Represents a translation in 3D space. `Twist2d`([dx, dy, dtheta]) A change in distance along a 2D arc since the last pose update. `Twist3d`([dx, dy, dz, rx, ry, rz]) A change in distance along a 3D arc since the last pose update.