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

essential_distMinAnglePair_computeDfBreak

PURPOSE ^

SYNOPSIS ^

function dfBreak=essential_distMinAnglePair_computeDfBreak(tBreak,Q21)

DESCRIPTION ^

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function dfBreak=essential_distMinAnglePair_computeDfBreak(tBreak,Q21)
0002 c=cos(tBreak);
0003 s=sin(tBreak);
0004 
0005 % The code below is an optimization exploiting the structure of RBreak to
0006 % substitute the following code
0007 %     RBreak=Q1'*[c -s 0; s c 0; 0 0 1]*Q2;
0008 %
0009 %     %compute v0 such that RBreak=rot(pi*v0)
0010 %     [U,~,~]=svd(RBreak+eye(3));
0011 %     v0=U(:,1);
0012 %
0013 %     dfBreak=pi*abs(Q1(3,:)*v0);
0014 
0015 Q1RBreakQ1=[c -s 0; s c 0; 0 0 1]*Q21;
0016 [U,~,~]=svd(Q1RBreakQ1+eye(3));
0017 dfBreak=pi*abs(U(3,1));

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