Home > manopt > manifolds > essential > privateessential > essential_distMinAnglePair.m

essential_distMinAnglePair

PURPOSE ^

SYNOPSIS ^

function [tMin,fMin,tBreak1,tBreak2,Q2,tMinAll]=essential_distMinAnglePair(Q1,Q2,kFlip)

DESCRIPTION ^

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function [tMin,fMin,tBreak1,tBreak2,Q2,tMinAll]=essential_distMinAnglePair(Q1,Q2,kFlip)
0002 
0003 switch kFlip
0004     case 1
0005         %nothing to do
0006     case 2
0007         Q2([2 3 4 6],:)=-Q2([2 3 4 6],:);
0008     case 3
0009         Q2([4 5],:)=-Q2([4 5],:);
0010     case 4
0011         Q2([2 3 5 6],:)=-Q2([2 3 5 6],:);
0012     otherwise
0013         error('Value of kFlip invalid')
0014 end
0015 
0016 Q11=Q1(1:3,:);
0017 Q12=Q1(4:6,:);
0018 Q21=Q2(1:3,:);
0019 Q22=Q2(4:6,:);
0020 
0021 Q211=Q21*Q11';
0022 Q212=Q22*Q12';
0023 [tMin,fMin,tBreak1,tBreak2,tMinAll]=essential_distMinAnglePair_base(Q211,Q212);

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