diff --git a/basic-geometry/rigid-pose3.c b/basic-geometry/rigid-pose3.c
index 72cb97b..ab60b7f 100644
--- a/basic-geometry/rigid-pose3.c
+++ b/basic-geometry/rigid-pose3.c
@@ -3,6 +3,21 @@
 extern inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose);
 extern inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose);
 
+extern inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose);
+extern inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose);
+
+extern inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* quaternion, const BGC_FP32_RigidPose3* pose);
+extern inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* quaternion, const BGC_FP64_RigidPose3* pose);
+
+extern inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* pose, const BGC_FP32_DualQuaternion* quaternion);
+extern inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose, const BGC_FP64_DualQuaternion* quaternion);
+
+extern inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* pose);
+extern inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* pose);
+
+extern inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* pose);
+extern inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* pose);
+
 extern inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
 extern inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source);
 
@@ -12,5 +27,14 @@ extern inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP6
 extern inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source);
 extern inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source);
 
+extern inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* pose);
+extern inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* pose);
+
+extern inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* reverse, const BGC_FP32_RigidPose3* pose);
+extern inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* reverse, const BGC_FP64_RigidPose3* pose);
+
 extern inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second);
 extern inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second);
+
+extern inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* difference, const BGC_FP32_RigidPose3* base, const BGC_FP32_RigidPose3* excludant);
+extern inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* difference, const BGC_FP64_RigidPose3* base, const BGC_FP64_RigidPose3* excludant);
diff --git a/basic-geometry/rigid-pose3.h b/basic-geometry/rigid-pose3.h
index 1c1c8dc..c5adea4 100644
--- a/basic-geometry/rigid-pose3.h
+++ b/basic-geometry/rigid-pose3.h
@@ -77,6 +77,56 @@ inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose)
     bgc_fp64_quaternion_subtract_scaled(&pose->_versor.dual_part, &pose->_versor.dual_part, &pose->_versor.real_part, dot_product);
 }
 
+// ============ Get Dual Quaternion ============= //
+
+inline void bgc_fp32_rigid_pose3_get_dual_quaternion(BGC_FP32_DualQuaternion* quaternion, const BGC_FP32_RigidPose3* pose)
+{
+    bgc_fp32_dual_quaternion_copy(quaternion, &pose->_versor);
+}
+
+inline void bgc_fp64_rigid_pose3_get_dual_quaternion(BGC_FP64_DualQuaternion* quaternion, const BGC_FP64_RigidPose3* pose)
+{
+    bgc_fp64_dual_quaternion_copy(quaternion, &pose->_versor);
+}
+
+// ============ Get Dual Quaternion ============= //
+
+inline void bgc_fp32_rigid_pose3_set_dual_quaternion(BGC_FP32_RigidPose3* pose, const BGC_FP32_DualQuaternion* quaternion)
+{
+    bgc_fp32_dual_quaternion_copy(&pose->_versor, quaternion);
+    _bgc_fp32_rigid_pose3_normalize(destination);
+}
+
+inline void bgc_fp64_rigid_pose3_set_dual_quaternion(BGC_FP64_RigidPose3* pose, const BGC_FP64_DualQuaternion* quaternion)
+{
+    bgc_fp64_dual_quaternion_copy(&pose->_versor, quaternion);
+    _bgc_fp64_rigid_pose3_normalize(destination);
+}
+
+// =============== Get Real Part ================ //
+
+inline void bgc_fp32_rigid_pose3_get_real_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* pose)
+{
+    bgc_fp32_quaternion_copy(quaternion, &pose->_versor.real_part);
+}
+
+inline void bgc_fp64_rigid_pose3_get_real_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* pose)
+{
+    bgc_fp64_quaternion_copy(quaternion, &pose->_versor.real_part);
+}
+
+// =============== Get Dual Part ================ //
+
+inline void bgc_fp32_rigid_pose3_get_dual_part(BGC_FP32_Quaternion* quaternion, const BGC_FP32_RigidPose3* pose)
+{
+    bgc_fp32_quaternion_copy(quaternion, &pose->_versor.dual_part);
+}
+
+inline void bgc_fp64_rigid_pose3_get_dual_part(BGC_FP64_Quaternion* quaternion, const BGC_FP64_RigidPose3* pose)
+{
+    bgc_fp64_quaternion_copy(quaternion, &pose->_versor.dual_part);
+}
+
 // ==================== Copy ==================== //
 
 inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
@@ -115,6 +165,34 @@ inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destinatio
     _bgc_fp32_rigid_pose3_normalize(destination);
 }
 
+// =================== Revert =================== //
+
+inline void bgc_fp32_rigid_pose3_revert(BGC_FP32_RigidPose3* pose)
+{
+    bgc_fp32_quaternion_conjugate(&pose->_versor.real_part);
+    bgc_fp32_quaternion_conjugate(&pose->_versor.dual_part);
+}
+
+inline void bgc_fp64_rigid_pose3_revert(BGC_FP64_RigidPose3* pose)
+{
+    bgc_fp64_quaternion_conjugate(&pose->_versor.real_part);
+    bgc_fp64_quaternion_conjugate(&pose->_versor.dual_part);
+}
+
+// ================ Get Reverse ================= //
+
+inline void bgc_fp32_rigid_pose3_get_reverse(BGC_FP32_RigidPose3* reverse, const BGC_FP32_RigidPose3* pose)
+{
+    bgc_fp32_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part);
+    bgc_fp32_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part);
+}
+
+inline void bgc_fp64_rigid_pose3_get_reverse(BGC_FP64_RigidPose3* reverse, const BGC_FP64_RigidPose3* pose)
+{
+    bgc_fp64_quaternion_get_conjugate(&reverse->_versor.real_part, &pose->_versor.real_part);
+    bgc_fp64_quaternion_get_conjugate(&reverse->_versor.dual_part, &pose->_versor.dual_part);
+}
+
 // ================== Combine =================== //
 
 inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second)
@@ -129,4 +207,32 @@ inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const
     _bgc_fp64_rigid_pose3_normalize(combination);
 }
 
+// ================== Exclude =================== //
+
+inline void bgc_fp32_rigid_pose3_exclude(BGC_FP32_RigidPose3* difference, const BGC_FP32_RigidPose3* base, const BGC_FP32_RigidPose3* excludant)
+{
+    BGC_FP32_Quaternion dual_part1, dual_part2;
+
+    _bgc_fp32_restrict_quaternion_multiply_by_conjugate(&dual_part1, &base->_versor.real_part, &excludant->_versor.dual_part);
+    _bgc_fp32_restrict_quaternion_multiply_by_conjugate(&dual_part2, &base->_versor.dual_part, &excludant->_versor.real_part);
+
+    bgc_fp32_quaternion_multiply_by_conjugate(&difference->_versor.real_part, &base->_versor.real_part, &excludant->_versor.real_part);
+    bgc_fp32_quaternion_add(&difference->_versor.dual_part, &dual_part1, &dual_part2);
+
+    _bgc_fp32_rigid_pose3_normalize(difference);
+}
+
+inline void bgc_fp64_rigid_pose3_exclude(BGC_FP64_RigidPose3* difference, const BGC_FP64_RigidPose3* base, const BGC_FP64_RigidPose3* excludant)
+{
+    BGC_FP64_Quaternion dual_part1, dual_part2;
+
+    _bgc_fp64_restrict_quaternion_multiply_by_conjugate(&dual_part1, &base->_versor.real_part, &excludant->_versor.dual_part);
+    _bgc_fp64_restrict_quaternion_multiply_by_conjugate(&dual_part2, &base->_versor.dual_part, &excludant->_versor.real_part);
+
+    bgc_fp64_quaternion_multiply_by_conjugate(&difference->_versor.real_part, &base->_versor.real_part, &excludant->_versor.real_part);
+    bgc_fp64_quaternion_add(&difference->_versor.dual_part, &dual_part1, &dual_part2);
+
+    _bgc_fp64_rigid_pose3_normalize(difference);
+}
+
 #endif