Just a function to rotate such that the first rotation is the identity matrix and translate such that the first translation is at the origin (all zeros).
This accounts for the fact that there is not a unique reference frame for the solutions -- they can be identically rotated and translated. It is a simple convenience function.
Just a function to rotate such that the first rotation is the identity matrix and translate such that the first translation is at the origin (all zeros).
This accounts for the fact that there is not a unique reference frame for the solutions -- they can be identically rotated and translated. It is a simple convenience function.