def error(T1, T2):
"""Returns a 6D "difference vector" that describes how far T1 is from T2.
More precisely, this is the Lie derivative (w,v)."""
(R1, t1) = T1
(R2, t2) = T2
#concatenate lists
return so3.error(R1, R2) + vectorops.sub(t1, t2)
def error(T1,T2):
"""Returns a 6D "difference vector" that describes how far T1 is from T2.
More precisely, this is the Lie derivative (w,v)."""
(R1,t1)=T1
(R2,t2)=T2
#concatenate lists
return so3.error(R1,R2) + vectorops.sub(t1,t2)
def difference(self,a,b):
w = so3.error(a,b)
return so3.cross_product(w)
def distance(self,a,b):
return vectorops.norm(so3.error(a,b))
def difference(self, a, b):
w = so3.error(a, b)
return so3.cross_product(w)
def distance(self, a, b):
return vectorops.norm(so3.error(a, b))
