19 lines
352 B
Matlab
19 lines
352 B
Matlab
%*** CHAPTER 3: RIGID-BODY MOTIONS ***
|
|
|
|
function judge = TestIfSO3(R)
|
|
% Takes mat: A 3x3 matrix R.
|
|
% Check if R is close to or on the manifold SO(3).
|
|
% Example Inputs:
|
|
%{
|
|
clear; clc;
|
|
R = [1.0, 0.0, 0.0;
|
|
0.0, 0.1, -0.95;
|
|
0.0, 1.0, 0.1];
|
|
judge = TestIfSO3(R)
|
|
%}
|
|
% Output:
|
|
% dudge =
|
|
% 0
|
|
|
|
judge = NearZero(DistanceToSO3(R));
|
|
end |