def anti(a, b):
q1 = motions[a]
q2 = motions[b]
return SE2.distance(q1, SE2.inverse(q2))
def same(a, b):
q1 = motions[a]
q2 = motions[b]
return SE2.distance(q1, q2)
def commuting(a, b):
q1 = motions[a]
q2 = motions[b]
return SE2.distance(SE2.multiply(q1, q2), SE2.multiply(q2, q1))
def anti(a, b):
q1 = motions[a]
q2 = motions[b]
return SE2.distance(q1, SE2.inverse(q2))
def same(a, b):
q1 = motions[a]
q2 = motions[b]
return SE2.distance(q1, q2)
def commuting(a, b):
q1 = motions[a]
q2 = motions[b]
return SE2.distance(SE2.multiply(q1, q2),
SE2.multiply(q2, q1))
