bool isNear(const Transform &lhs, const Transform &rhs, double epsilon) { auto la = toEigenAffine3d(lhs); auto ra = toEigenAffine3d(rhs); return la.isApprox(ra, epsilon); }
static inline bool isApproxOrLessThan(const Scalar& x, const OtherScalar& y, const Precision& prec) { return x <= y || isApprox(x, y, prec); }