"""SE(3) utility helpers — STUB.

Concrete implementation is owned by AZ-277. Contract:
`_docs/02_document/common-helpers/02_helper_se3_utils.md`.
"""

from __future__ import annotations

from typing import Any


def compose(a_se3: Any, b_se3: Any) -> Any:
    """Compose two SE(3) transforms."""
    raise NotImplementedError("se3_utils concrete impl is AZ-277")


def inverse(t_se3: Any) -> Any:
    """Invert an SE(3) transform."""
    raise NotImplementedError("se3_utils concrete impl is AZ-277")


def log_map(t_se3: Any) -> Any:
    """SE(3) → se(3) log map (returns a 6-vector)."""
    raise NotImplementedError("se3_utils concrete impl is AZ-277")


def exp_map(xi_6: Any) -> Any:
    """se(3) → SE(3) exp map (consumes a 6-vector)."""
    raise NotImplementedError("se3_utils concrete impl is AZ-277")