main/src/georegression/struct/se/SpecialEuclideanOps_F64.java
public static boolean isIdentical( Se3_F64 a , Se3_F64 b , double tolT , double tolR ) {
		if( Math.abs(a.T.x-b.T.x) > tolT )
			return false;
		if( Math.abs(a.T.y-b.T.y) > tolT )
			return false;
		if( Math.abs(a.T.z-b.T.z) > tolT )
			return false;

		DMatrixRMaj D = new DMatrixRMaj(3,3);
		CommonOps_DDRM.multTransA(a.R,b.R,D);

		Rodrigues_F64 rod = new Rodrigues_F64();
		ConvertRotation3D_F64.matrixToRodrigues(D,rod);

		return rod.theta <= tolR;
	}
public static boolean isIdentical( Se3_F64 a , Se3_F64 b , double tolT , double tolR ) {
		if( Math.abs(a.T.x-b.T.x) > tolT )
			return false;
		if( Math.abs(a.T.y-b.T.y) > tolT )
			return false;
		if( Math.abs(a.T.z-b.T.z) > tolT )
			return false;

		DMatrixRMaj D = new DMatrixRMaj(3,3);
		CommonOps_DDRM.multTransA(a.R,b.R,D);

		Rodrigues_F64 rod = new Rodrigues_F64();
		ConvertRotation3D_F64.matrixToRodrigues(D,rod);

		return rod.theta <= tolR;
	}
public static boolean isIdentical ( Se3_F64 a , Se3_F64 b , double tolT , double tolR ) { if ( Math . abs ( a . T . x - b . T . x ) > tolT ) return false ; if ( Math . abs ( a . T . y - b . T . y ) > tolT ) return false ; if ( Math . abs ( a . T . z - b . T . z ) > tolT ) return false ; DMatrixRMaj D = new DMatrixRMaj ( 3 , 3 ) ; CommonOps_DDRM . multTransA ( a . R , b . R , D ) ; Rodrigues_F64 rod = new Rodrigues_F64 ( ) ; ConvertRotation3D_F64 . matrixToRodrigues ( D , rod ) ; return rod . theta <= tolR ; }
Can be used to see if two transforms are identical to within tolerance

@param a transform
@param b tranform
@param tolT Tolerance for translation
@param tolR Tolerance for rotation in radians
@return true if identical or false if not
Can be used to see if two transforms are identical to within tolerance