geterroropt

 GETERROROPT is the optimisation objective function.

 GETERROROPT simply finds the error vector for a certain transformation.
 The function differs from geterrorvec in that it takes the transformation
 as a 1x6 vector with the rotation vector in rodrigues notation (Not Euler
 angles).
 
 INPUTS:
     deltaphi: 1x6 vector. First 3 are the translation offset. Last 3 are
     the rodrigues vector.

     Lpts: 3xN vector containing all the laser board points.
 
     Nc: 3xN vector containing the corresponding normal vector.
 
 OUTPUTS:
     errorvec: 1xN vector representing the errors for each point.

0001 function errorvec=geterroropt(deltaphi,Lpts,Nc)
0002 % GETERROROPT is the optimisation objective function.
0003 %
0004 % GETERROROPT simply finds the error vector for a certain transformation.
0005 % The function differs from geterrorvec in that it takes the transformation
0006 % as a 1x6 vector with the rotation vector in rodrigues notation (Not Euler
0007 % angles).
0008 %
0009 % INPUTS:
0010 %     deltaphi: 1x6 vector. First 3 are the translation offset. Last 3 are
0011 %     the rodrigues vector.
0012 %
0013 %     Lpts: 3xN vector containing all the laser board points.
0014 %
0015 %     Nc: 3xN vector containing the corresponding normal vector.
0016 %
0017 % OUTPUTS:
0018 %     errorvec: 1xN vector representing the errors for each point.
0019 
0020 delta=deltaphi(:,1);
0021 
0022 phi=rodrigues(deltaphi(:,2));
0023 
0024 errorvec=geterrorvec(Lpts,Nc,delta,phi);
0025