path_min_p1c_u_dp23 <- function(p, params){
# Select new p1 as point on circle
p1_new <- circlePoint(circle=params[['circle']], T=p)
# Find transformation to move p1 to p1_new given U-joint parameters
solve_ujt <- solveUJtFromPts(center=params[['u.center']], axes=params[['u.axes']],
p1=params[['p1']], p2=p1_new, tp1=params[['p2']], tp2=params[['tp2']])
# Check if just returning transformation
if(params[['return.tmat']]) return(solve_ujt$tmat)
# Copy that transformation to p2
p2_new <- applyTransform(to=params[['p2']], tmat=solve_ujt$tmat)
# Find difference in the distance between the new p2 and p3 versus objective
abs(distPointToPoint(p2_new, params[['p3']]) - params[['d23']])
}
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