Metrics

This submodule provides common metrics used in 3D orientation representations, focusing on the validation and comparison of rotation matrices and quaternions.

They include guard clauses to raise appropriate errors if the inputs do not meet the required criteria, ensuring robust and error-free computations.

Additionally, the submodule implements a euclidean error estimation function, and functions to calculate the RMS error between two matrices or between an array of matrices, either element-wise or as a whole.

Metrics in SO(3)

• Chordal Distance
• Deviation from Identity Matrix
• Angular distance
• Quaternion Euclidean Distance
• Quaternion distance of inner products
• Cosine of inner products
• Quaternion Angle Difference

Metrics in R(3)

• Euclidean Distance
• Root Mean Squared Error
• RMSE between two arrays of matrices