diff --git a/doc/source/api.rst b/doc/source/api.rst
index d81bc5c7e..0f06cede7 100644
--- a/doc/source/api.rst
+++ b/doc/source/api.rst
@@ -447,36 +447,47 @@ Jacobians
     :no-members:
     :no-inherited-members:
 
-Conversions
------------
+Rotation Matrices
+-----------------
 
 .. autosummary::
    :toctree: _apidoc/
    :template: function.rst
 
    ~active_matrices_from_angles
+
    ~active_matrices_from_intrinsic_euler_angles
    ~active_matrices_from_extrinsic_euler_angles
    ~matrices_from_compact_axis_angles
+   ~matrices_from_quaternions
+
+Axis-Angle Representation
+-------------------------
+
+.. autosummary::
+   :toctree: _apidoc/
+   :template: function.rst
+
    ~axis_angles_from_matrices
+
    ~cross_product_matrices
-   ~matrices_from_quaternions
-   ~quaternions_from_matrices
-   ~batch_quaternion_wxyz_from_xyzw
-   ~batch_quaternion_xyzw_from_wxyz
 
-Operations
-----------
+Quaternions
+-----------
 
 .. autosummary::
    :toctree: _apidoc/
    :template: function.rst
 
-   ~batch_q_conj
    ~batch_concatenate_quaternions
+   ~batch_q_conj
    ~quaternion_slerp_batch
    ~smooth_quaternion_trajectory
 
+   ~quaternions_from_matrices
+   ~batch_quaternion_wxyz_from_xyzw
+   ~batch_quaternion_xyzw_from_wxyz
+
 Utility Functions
 -----------------
 
@@ -495,36 +506,57 @@ Utility Functions
     :no-members:
     :no-inherited-members:
 
-Conversions
------------
+Transformation Matrices
+-----------------------
 
 .. autosummary::
    :toctree: _apidoc/
    :template: function.rst
 
+   ~invert_transforms
+   ~concat_one_to_many
+   ~concat_many_to_one
+
    ~transforms_from_pqs
    ~transforms_from_exponential_coordinates
    ~transforms_from_dual_quaternions
+
+Positions and Quaternions
+-------------------------
+
+.. autosummary::
+   :toctree: _apidoc/
+   :template: function.rst
+
+   ~plot_trajectory
+
    ~pqs_from_transforms
    ~pqs_from_dual_quaternions
+
+
+Exponential Coordinates
+-----------------------
+
+.. autosummary::
+   :toctree: _apidoc/
+   :template: function.rst
+
+   ~mirror_screw_axis_direction
+
    ~exponential_coordinates_from_transforms
-   ~dual_quaternions_from_pqs
 
-Operations and Utility Functions
---------------------------------
+Dual Quaternions
+----------------
 
 .. autosummary::
    :toctree: _apidoc/
    :template: function.rst
 
-   ~invert_transforms
-   ~concat_one_to_many
-   ~concat_many_to_one
    ~batch_dq_conj
    ~batch_concatenate_dual_quaternions
    ~batch_dq_prod_vector
-   ~plot_trajectory
-   ~mirror_screw_axis_direction
+
+   ~dual_quaternions_from_pqs
 
 
 :mod:`pytransform3d.uncertainty`