Rotation Error Geodesic

Problem

Compute the geodesic rotation error between two 3x3 rotation matrices in degrees.

Return degrees(acos(clamp((trace(R1^T R2) - 1) / 2, -1, 1))) rounded to 4 decimal places.

case 1

in: [[[1,0,0],[0,1,0],[0,0,1]],[[1,0,0],[0,1,0],[0,0,1]]]

expected: 0

case 2

in: [[[1,0,0],[0,1,0],[0,0,1]],[[0,-1,0],[1,0,0],[0,0,1]]]

expected: 90

case 3

in: [[[0,-1,0],[1,0,0],[0,0,1]],[[-1,0,0],[0,-1,0],[0,0,1]]]

expected: 90

Starter codePython

def rotation_error(R1, R2):
    # Your code here
    pass

3 test cases · run your code against them in the editor