Home > manopt > manifolds > essential > essential_costE2cost.m

essential_costE2cost

PURPOSE ^

Cost evaluation at X given function handle in the Essential matrix E.

SYNOPSIS ^

function val = essential_costE2cost(X, costE)

DESCRIPTION ^

 Cost evaluation at X given function handle in the Essential matrix E.

 function val = essential_costE2cost(X, costE)

 costE is the function handle for the cost function in E.

 See also: essential_egradE2egrad essential_ehessE2ehess

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function val = essential_costE2cost(X, costE)
0002 % Cost evaluation at X given function handle in the Essential matrix E.
0003 %
0004 % function val = essential_costE2cost(X, costE)
0005 %
0006 % costE is the function handle for the cost function in E.
0007 %
0008 % See also: essential_egradE2egrad essential_ehessE2ehess
0009 
0010 % This file is part of Manopt: www.manopt.org.
0011 % Original author: Roberto Tron, Aug. 8, 2014
0012 % Contributors: Bamdev Mishra, May 22, 2015.
0013 
0014     e3hat = [0 -1 0; 1 0 0; 0 0 0];
0015     
0016     RA = X(:,1:3,:); 
0017     RB = X(:,4:6,:); 
0018     E = multiprod(multiprod(multitransp(RA), e3hat), RB); 
0019     
0020     val = costE(E);
0021 end

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