On top of what Eric said:
(1) Since q and -q represent the same orientation, you should take the absolute value of the dot product before you take the arccos.
(2) You don't need to compute the expensive arccos at all if all you need to know is which of them is closest. The smallest angle will be the one with the highest cosine, so simply find the one that maximizes that.
6 DOF Distance formula
Quote:Original post by alvaro
On top of what Eric said:
(1) Since q and -q represent the same orientation, you should take the absolute value of the dot product before you take the arccos.
(2) You don't need to compute the expensive arccos at all if all you need to know is which of them is closest. The smallest angle will be the one with the highest cosine, so simply find the one that maximizes that.
Agreed!
Quote:Original post by usman1266
Thank for reply all of user,any c++ example code that implement above formulas.
No: Do your own work. If you can't figure it out, post what you've tried, and we'll help you.
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