dist: Rotational Distance

In heike/rotations: Tools for working with rotational data

Description

Calculate the Euclidean or Riemannian distance between two rotations

Usage

  dist(x, ...)

  ## S3 method for class 'SO3'
 dist(R1, R2 = id.SO3,
    method = "projected", p = 1)

  ## S3 method for class 'Q4'
 dist(Q1, Q2 = id.Q4, method = "projected",
    p = 1)

Arguments

R1	(or Q1) a rotation in matrix or quaternion representation
R2	(or Q2) the second rotation in the same parameterization as R1
method	String indicating 'projected' or 'intrinsic' method of distance
p	the order of the distance
...	Additional arguments

Details

This function will calculate the intrinsic (Riemannian) or projected (Euclidean) distance between two rotations. If only one rotation is specified the other will be set to the identity and the distance between the two is returned. For rotations R1 and R2 both in SO(3), the Euclidean distance between them is

||R1-R2||

where || || is the Frobenius norm. The intrinsic distance is defined as

||Log(R1'R2)||

where Log is the matrix logarithm, and it corresponds to the misorientation angle of R1'R2.

Value

the rotational distance between R1 and R2

heike/rotations documentation built on May 17, 2019, 3:24 p.m.