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))