# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
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"""Common types shared between camera and sensor kernels.

Exports pose dataclasses (Pose, Trajectory, DynamicPose) and cross-layer
utility helpers (quaternion swizzles, SE(3) matrix construction, valid-index
extraction).
"""

from .pose import DynamicPose, Pose, Trajectory
from .pose_interp import (
    unpack_dynamic_pose_components,
)
from .tensor_ops import (
    raise_or_target_device,
    timestamp_bounds,
    to_dev,
    zero_like,
)
from .utils import (
    poses_to_matrix,
    valid_flags_to_indices,
    wxyz_to_xyzw,
    xyzw_to_wxyz,
)

__all__ = [
    "DynamicPose",
    "Pose",
    "Trajectory",
    "poses_to_matrix",
    "raise_or_target_device",
    "timestamp_bounds",
    "to_dev",
    "unpack_dynamic_pose_components",
    "valid_flags_to_indices",
    "wxyz_to_xyzw",
    "xyzw_to_wxyz",
    "zero_like",
]
