Function checkIsometry

• Defined in File check_isometry.h

Function Documentation

inline bool checkIsometry(const Eigen::Isometry3d &transform, const double precision = CHECK_ISOMETRY_PRECISION, const bool printError = true)

Check whether the given transform is really (mathematically) an isometry.

Parameters:

• transform – The possibly non-isometric transform.

• precision – Precision to which the transform has to correspond to an isometry (element-wise).

• printError – Whether an error should be printed to std::cerr with details about the false isometry.

Returns:

Whether the given transform is close to an isometry or not.