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

essential_distMinAnglePair_discontinuityDistance

PURPOSE ^

SYNOPSIS ^

function [tBreak,a,b,c,m,p]=essential_distMinAnglePair_discontinuityDistance(Q21)

DESCRIPTION ^

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SUBFUNCTIONS ^

SOURCE CODE ^

0001 function [tBreak,a,b,c,m,p]=essential_distMinAnglePair_discontinuityDistance(Q21)
0002 a=Q21(1,1)+Q21(2,2);
0003 b=Q21(1,2)-Q21(2,1);
0004 c=Q21(3,3);
0005 
0006 m=norm([a;b]);
0007 p=sign(a)*acos(clip(b/m));
0008 
0009 %tBreak=modAngle(3/2*pi-p);
0010 tBreak=-0.5*pi-p;
0011 
0012 function v=clip(v)
0013 v=min(1,max(-1,v));

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