diff --git a/eslint.config.js b/eslint.config.js
index 9fa51b227..6aa12ab57 100644
--- a/eslint.config.js
+++ b/eslint.config.js
@@ -61,7 +61,8 @@ export default tseslint.config(
       quotes: [2, 'single'],
       'no-proto': 2,
       'linebreak-style': 2,
-      'key-spacing': [2, {afterColon: true}]
+      'key-spacing': [2, {afterColon: true}],
+      'eol-last': ['error', 'always'],
     },
     files: ['**/*.{js,jsx,ts,tsx,cjs}'],
   }
diff --git a/src/math/Pose.js b/src/math/Pose.ts
similarity index 52%
rename from src/math/Pose.js
rename to src/math/Pose.ts
index adb84eaec..5ab924169 100644
--- a/src/math/Pose.js
+++ b/src/math/Pose.ts
@@ -2,67 +2,78 @@
  * @fileOverview
  * @author David Gossow - dgossow@willowgarage.com
  */
+import Vector3, { type IVector3 } from './Vector3.js';
+import Quaternion, { type IQuaternion } from './Quaternion.js';
+import { type ITransform } from './Transform.js';
+import { PartialNullable } from '../types/interface-types.js';
 
-import Vector3 from './Vector3.js';
-import Quaternion from './Quaternion.js';
-import Transform from './Transform.js';
+export interface IPose {
+  /**
+   * The ROSLIB.Vector3 describing the position.
+   */
+  position: IVector3;
+  /**
+   * The ROSLIB.Quaternion describing the orientation.
+   */
+  orientation: IQuaternion;
+}
 
 /**
  * A Pose in 3D space. Values are copied into this object.
  */
-export default class Pose {
-  /**
-   * @param {Object} [options]
-   * @param {Vector3} [options.position] - The ROSLIB.Vector3 describing the position.
-   * @param {Quaternion} [options.orientation] - The ROSLIB.Quaternion describing the orientation.
-   */
-  constructor(options) {
-    options = options || {};
-    // copy the values into this object if they exist
-    options = options || {};
-    this.position = new Vector3(options.position);
-    this.orientation = new Quaternion(options.orientation);
+export default class Pose implements IPose {
+
+  position: Vector3;
+  orientation: Quaternion;
+
+  constructor(options?: PartialNullable<IPose>) {
+    this.position = new Vector3(options?.position);
+    this.orientation = new Quaternion(options?.orientation);
   }
+
   /**
    * Apply a transform against this pose.
    *
-   * @param {Transform} tf - The transform to be applied.
+   * @param {ITransform} tf - The transform to be applied.
    */
-  applyTransform(tf) {
+  applyTransform(tf: ITransform) {
     this.position.multiplyQuaternion(tf.rotation);
     this.position.add(tf.translation);
-    var tmp = tf.rotation.clone();
+    const tmp = new Quaternion(tf.rotation);
     tmp.multiply(this.orientation);
     this.orientation = tmp;
   }
+
   /**
    * Clone a copy of this pose.
    *
    * @returns {Pose} The cloned pose.
    */
-  clone() {
+  clone(): Pose {
     return new Pose(this);
   }
+
   /**
    * Multiply this pose with another pose without altering this pose.
    *
    * @returns {Pose} The result of the multiplication.
    */
-  multiply(pose) {
-    var p = pose.clone();
+  multiply(pose: Pose): Pose {
+    const p = pose.clone();
     p.applyTransform({
       rotation: this.orientation,
       translation: this.position
     });
     return p;
   }
+
   /**
    * Compute the inverse of this pose.
    *
    * @returns {Pose} The inverse of the pose.
    */
-  getInverse() {
-    var inverse = this.clone();
+  getInverse(): Pose {
+    const inverse = this.clone();
     inverse.orientation.invert();
     inverse.position.multiplyQuaternion(inverse.orientation);
     inverse.position.x *= -1;
diff --git a/src/math/Quaternion.js b/src/math/Quaternion.ts
similarity index 52%
rename from src/math/Quaternion.js
rename to src/math/Quaternion.ts
index c43919dfb..ed161dcd5 100644
--- a/src/math/Quaternion.js
+++ b/src/math/Quaternion.ts
@@ -2,46 +2,69 @@
  * @fileOverview
  * @author David Gossow - dgossow@willowgarage.com
  */
+import { type PartialNullable } from '../types/interface-types.js';
+
+export interface IQuaternion {
+  /**
+   * The x value.
+   */
+  x: number;
+
+  /**
+   * The y value.
+   */
+  y: number;
+
+  /**
+   * The z value.
+   */
+  z: number;
+
+  /**
+   * The w value.
+   */
+  w: number;
+}
 
 /**
  * A Quaternion.
  */
-export default class Quaternion {
-  /**
-   * @param {Object} [options]
-   * @param {number|null} [options.x=0] - The x value.
-   * @param {number|null} [options.y=0] - The y value.
-   * @param {number|null} [options.z=0] - The z value.
-   * @param {number|null} [options.w=1] - The w value.
-   */
-  constructor(options) {
-    options = options || {};
-    this.x = options.x || 0;
-    this.y = options.y || 0;
-    this.z = options.z || 0;
-    this.w = typeof options.w === 'number' ? options.w : 1;
+export default class Quaternion implements IQuaternion {
+  x: number;
+  y: number;
+  z: number;
+  w: number;
+
+  constructor(options?: PartialNullable<IQuaternion> | null) {
+    this.x = options?.x ?? 0;
+    this.y = options?.y ?? 0;
+    this.z = options?.z ?? 0;
+    this.w = typeof options?.w === 'number' ? options.w : 1;
   }
+
   /**
    * Perform a conjugation on this quaternion.
    */
-  conjugate() {
+  conjugate(): void {
     this.x *= -1;
     this.y *= -1;
     this.z *= -1;
   }
+
   /**
    * Return the norm of this quaternion.
    */
-  norm() {
+  norm(): number {
     return Math.sqrt(
       this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w
     );
   }
+
   /**
    * Perform a normalization on this quaternion.
    */
-  normalize() {
-    var l = Math.sqrt(
+  normalize(): void {
+    let l = Math.sqrt(
       this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w
     );
     if (l === 0) {
@@ -67,24 +90,25 @@ export default class Quaternion {
   /**
    * Set the values of this quaternion to the product of itself and the given quaternion.
    *
-   * @param {Quaternion} q - The quaternion to multiply with.
+   * @param {IQuaternion} q - The quaternion to multiply with.
    */
-  multiply(q) {
-    var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;
-    var newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y;
-    var newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z;
-    var newW = -this.x * q.x - this.y * q.y - this.z * q.z + this.w * q.w;
+  multiply(q: IQuaternion): void {
+    const newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;
+    const newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y;
+    const newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z;
+    const newW = -this.x * q.x - this.y * q.y - this.z * q.z + this.w * q.w;
     this.x = newX;
     this.y = newY;
     this.z = newZ;
     this.w = newW;
   }
+
   /**
    * Clone a copy of this quaternion.
    *
    * @returns {Quaternion} The cloned quaternion.
    */
-  clone() {
+  clone(): Quaternion {
     return new Quaternion(this);
   }
 }
diff --git a/src/math/Transform.js b/src/math/Transform.js
deleted file mode 100644
index 4139f63aa..000000000
--- a/src/math/Transform.js
+++ /dev/null
@@ -1,31 +0,0 @@
-/**
- * @fileOverview
- * @author David Gossow - dgossow@willowgarage.com
- */
-
-import Vector3 from './Vector3.js';
-import Quaternion from './Quaternion.js';
-
-/**
- * A Transform in 3-space. Values are copied into this object.
- */
-export default class Transform {
-  /**
-   * @param {Object} options
-   * @param {Vector3} options.translation - The ROSLIB.Vector3 describing the translation.
-   * @param {Quaternion} options.rotation - The ROSLIB.Quaternion describing the rotation.
-   */
-  constructor(options) {
-    // Copy the values into this object if they exist
-    this.translation = new Vector3(options.translation);
-    this.rotation = new Quaternion(options.rotation);
-  }
-  /**
-   * Clone a copy of this transform.
-   *
-   * @returns {Transform} The cloned transform.
-   */
-  clone() {
-    return new Transform(this);
-  }
-}
diff --git a/src/math/Transform.ts b/src/math/Transform.ts
new file mode 100644
index 000000000..176423edf
--- /dev/null
+++ b/src/math/Transform.ts
@@ -0,0 +1,42 @@
+/**
+ * @fileOverview
+ * @author David Gossow - dgossow@willowgarage.com
+ */
+
+import Vector3, { type IVector3 } from './Vector3.js';
+import Quaternion, { type IQuaternion } from './Quaternion.js';
+
+export interface ITransform {
+  /**
+   * The ROSLIB.Vector3 describing the translation.
+   */
+  translation: IVector3;
+  /**
+   * The ROSLIB.Quaternion describing the rotation.
+   */
+  rotation: IQuaternion;
+}
+
+/**
+ * A Transform in 3-space. Values are copied into this object.
+ */
+export default class Transform implements ITransform {
+
+  translation: Vector3;
+  rotation: Quaternion;
+
+  constructor(options: ITransform) {
+    // Copy the values into this object if they exist
+    this.translation = new Vector3(options.translation);
+    this.rotation = new Quaternion(options.rotation);
+  }
+
+  /**
+   * Clone a copy of this transform.
+   *
+   * @returns {Transform} The cloned transform.
+   */
+  clone(): Transform {
+    return new Transform(this);
+  }
+}
diff --git a/src/math/Vector3.js b/src/math/Vector3.ts
similarity index 53%
rename from src/math/Vector3.js
rename to src/math/Vector3.ts
index 3d9f933e2..f1d580903 100644
--- a/src/math/Vector3.js
+++ b/src/math/Vector3.ts
@@ -3,64 +3,81 @@
  * @author David Gossow - dgossow@willowgarage.com
  */
 
-import Quaternion from './Quaternion.js';
+import { type IQuaternion } from './Quaternion.js';
+import { type PartialNullable } from '../types/interface-types.js';
+
+export interface IVector3 {
+  /**
+   * The x value.
+   */
+  x: number;
+  /**
+   * The y value.
+   */
+  y: number;
+  /**
+   * The z value.
+   */
+  z: number;
+}
 
 /**
  * A 3D vector.
  */
-export default class Vector3 {
-  /**
-   * @param {Object} [options]
-   * @param {number} [options.x=0] - The x value.
-   * @param {number} [options.y=0] - The y value.
-   * @param {number} [options.z=0] - The z value.
-   */
-  constructor(options) {
-    options = options || {};
-    this.x = options.x || 0;
-    this.y = options.y || 0;
-    this.z = options.z || 0;
+export default class Vector3 implements IVector3 {
+  x: number;
+  y: number;
+  z: number;
+
+  constructor(options?: PartialNullable<IVector3> | null) {
+    this.x = options?.x ?? 0;
+    this.y = options?.y ?? 0;
+    this.z = options?.z ?? 0;
   }
+
   /**
    * Set the values of this vector to the sum of itself and the given vector.
    *
    * @param {Vector3} v - The vector to add with.
    */
-  add(v) {
+  add(v: IVector3): void {
     this.x += v.x;
     this.y += v.y;
     this.z += v.z;
   }
+
   /**
    * Set the values of this vector to the difference of itself and the given vector.
    *
    * @param {Vector3} v - The vector to subtract with.
    */
-  subtract(v) {
+  subtract(v: IVector3): void {
     this.x -= v.x;
     this.y -= v.y;
     this.z -= v.z;
   }
+
   /**
    * Multiply the given Quaternion with this vector.
    *
    * @param {Quaternion} q - The quaternion to multiply with.
    */
-  multiplyQuaternion(q) {
-    var ix = q.w * this.x + q.y * this.z - q.z * this.y;
-    var iy = q.w * this.y + q.z * this.x - q.x * this.z;
-    var iz = q.w * this.z + q.x * this.y - q.y * this.x;
-    var iw = -q.x * this.x - q.y * this.y - q.z * this.z;
+  multiplyQuaternion(q: IQuaternion) {
+    const ix = q.w * this.x + q.y * this.z - q.z * this.y;
+    const iy = q.w * this.y + q.z * this.x - q.x * this.z;
+    const iz = q.w * this.z + q.x * this.y - q.y * this.x;
+    const iw = -q.x * this.x - q.y * this.y - q.z * this.z;
     this.x = ix * q.w + iw * -q.x + iy * -q.z - iz * -q.y;
     this.y = iy * q.w + iw * -q.y + iz * -q.x - ix * -q.z;
     this.z = iz * q.w + iw * -q.z + ix * -q.y - iy * -q.x;
   }
+
   /**
    * Clone a copy of this vector.
    *
    * @returns {Vector3} The cloned vector.
    */
-  clone() {
+  clone(): Vector3 {
     return new Vector3(this);
   }
 }
diff --git a/src/math/index.ts b/src/math/index.ts
index 8260ddf71..6192483fa 100644
--- a/src/math/index.ts
+++ b/src/math/index.ts
@@ -1,4 +1,4 @@
-export { default as Pose } from './Pose.js';
-export { default as Quaternion } from './Quaternion.js';
-export { default as Transform } from './Transform.js';
-export { default as Vector3 } from './Vector3.js';
+export { default as Pose, type IPose } from './Pose.js';
+export { default as Quaternion, type IQuaternion } from './Quaternion.js';
+export { default as Transform, type ITransform } from './Transform.js';
+export { default as Vector3, type IVector3 } from './Vector3.js';
diff --git a/src/types/interface-types.ts b/src/types/interface-types.ts
new file mode 100644
index 000000000..1fbe2a89c
--- /dev/null
+++ b/src/types/interface-types.ts
@@ -0,0 +1,16 @@
+/**
+ * Represents a type that can either be a value of type `T` or `undefined`.
+ */
+export type Optional<T> = T | undefined;
+
+/**
+ * Represents a type that can either be a value of type `T` or `null`.
+ */
+export type Nullable<T> = T | null;
+
+/**
+ * Represents an object type where all properties are optional, and included properties can be null or undefined.
+ */
+export type PartialNullable<T> = {
+  [P in keyof T]?: Nullable<T[P]>;
+};