def SO3_distance(R0, R1):
"""
Return distance between the given two rotation matrices in SO3 space.
@type R0: numpy.ndarray
@param R0: Rotation matrix.
@type R1: numpy.ndarray
@param R1: Rotation matrix.
@rtype: float
@return: Distance.
"""
dR = lie.logvect(dot(R0.T, R1))
return np.sqrt(dot(dR, dR))
def SO3Distance(R0, R1): # bi-invariance
return linalg.norm(lie.logvect(dot(R0.T, R1)))
def SO3Distance(R0, R1): # bi-invariance
return linalg.norm(lie.logvect(dot(R0.T,R1)))
def SO3Distance(R0, R1): # bi-invariance
return np.linalg.norm(Lie.logvect(np.dot(R0.T, R1)))
