Robust and efficient identification of centres and axes of rotation

[MOHeller]

I came across your project here recently – looks really exciting, curious to see how this will develop!

I noted that you were recently dealing with issues related to axis fitting 2-axis rotation fitting code. by cdtwigg · Pull Request #761 · facebookresearch/momentum

Now I understand perfectly that you have extensive expertise and experience in the area, but I wondered if you ever looked into what is sometime referred to as axis transformation techniques (ATTs) of which our SARA/SCoRE are representatives off? SARA/SCoRE are quite efficient in solving questions around identification of axis (SARA) and centres (SCoRE) of rotation. Maybe these could be helpful also for your framework here.

Best wishes, Markus

On intrinsic equivalences of the finite helical axis, the instantaneous helical axis, and the SARA approach. A mathematical perspective - PubMed

A survey of formal methods for determining functional joint axes - PubMed

A survey of formal methods for determining the centre of rotation of ball joints - PubMed