verifyCornerAccuracy.m

%{
 * Copyright (C) 2013-2020, The Regents of The University of Michigan.
 * All rights reserved.
 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
 * be available under alternative licensing terms; contact the address above.
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 * modification, are permitted provided that the following conditions are met:
 * 1. Redistributions of source code must retain the above copyright notice, this
 *    list of conditions and the following disclaimer.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}

function cost = verifyCornerAccuracy(X_verification, Y_verification, P)
    C_X_transformed = P * X_verification;
    C_X_transformed = C_X_transformed ./ C_X_transformed(3,:);
    cost = (norm(C_X_transformed(1:2,:) - Y_verification(1:2,:), 'fro'))^2;
end