There is a flaw in the test suite. It tests the values in rpy2r rather than the results rpy from the solver's function. Also, the tolerance needs to be widened a bit.
Actually that's not a flaw, William. Since it is not always possible to determine the exact three original angles. In the second test case for instance, there are infinite solutions due to a singularity. Therefore, he tests the rotation matrix since it will be equal for all possible solutions.
It's interesting that a precision error allows you to recover the original angles: atan2(cos(pi/2)*sin(pi/3),cos(pi/2)*cos(pi/3)) amazingly returns pi/3, which obviously should not be true since atan2(0,0) = 0 (?). The issue seems to be that cos(pi/2) is not zero (due to an approximation error), but just a really small value close to zero.
Back to basics 17 - white space
Getting logical indexes
Are all the three given point in the same line?
Create Volcano (or Atoll) martix. It is an extension of Bullseye matrix problem.
Find the hypotenuse
Relative points in 2D: problem 2
Relative pose in 2D: problem 2
Invert a 3D rigid-body transformation
Create a 3D rotation matrix from roll-pitch-yaw angles
Composing relative poses in 2D: problem 1
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