20 lines
400 B
Mathematica
20 lines
400 B
Mathematica
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%*** CHAPTER 3: RIGID-BODY MOTIONS ***
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function judge = TestIfSE3(T)
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% Takes mat: A 4x4 matrix T.
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% Check if T is close to or on the manifold SE(3).
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% Example Inputs:
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%{
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clear; clc;
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T = [1.0, 0.0, 0.0, 1.2;
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0.0, 0.1, -0.95, 1.5;
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0.0, 1.0, 0.1, -0.9;
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0.0, 0.0, 0.1, 0.98];
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judge = TestIfSE3(T)
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%}
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% Output:
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% dudge =
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% 0
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judge = NearZero(DistanceToSE3(T));
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end
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