double getRotationMagnitude(const Mat3 & R2) { const Mat3 R1 = Mat3::Identity(); double cos_theta = (R1.array() * R2.array()).sum() / 3.0; cos_theta = clamp(cos_theta, -1.0, 1.0); return std::acos(cos_theta); }
double getRotationMagnitude(const Mat3 & R2) { const Mat3 R1 = Mat3::Identity(); double cos_theta = (R1.array() * R2.array()).sum() / 3.0; cos_theta = clamp(cos_theta, -1.0, 1.0); return std::acos(cos_theta); }