

=====================================================================
PA3-A-Debug: summary
Marker noise level =    0.000
Total iteration counts:  rigid steps 0  mode steps 0 combined steps 0
RMS residual Error: Computed =   0.0000  Actual =   0.0000  Diff =   0.0000
Computed Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Actual Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Computed.Inverse()*Actual Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Matrix forms of frames:
Computed Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Actual Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Computed.Inverse()*Actual
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000



=====================================================================
PA3-B-Debug: summary
Marker noise level =    0.000
Total iteration counts:  rigid steps 0  mode steps 0 combined steps 0
RMS residual Error: Computed =   1.4684  Actual =   1.4684  Diff =   0.0000
Computed Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Actual Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Computed.Inverse()*Actual Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Matrix forms of frames:
Computed Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Actual Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Computed.Inverse()*Actual
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000



=====================================================================
PA3-C-Debug: summary
Marker noise level =    0.000
Total iteration counts:  rigid steps 0  mode steps 0 combined steps 0
RMS residual Error: Computed =   0.7737  Actual =   0.7737  Diff =   0.0000
Computed Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Actual Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Computed.Inverse()*Actual Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Matrix forms of frames:
Computed Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Actual Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Computed.Inverse()*Actual
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000



=====================================================================
PA3-D-Debug: summary
Marker noise level =    0.000
Total iteration counts:  rigid steps 0  mode steps 0 combined steps 0
RMS residual Error: Computed =   1.1050  Actual =   1.1050  Diff =   0.0000
Computed Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Actual Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Computed.Inverse()*Actual Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Matrix forms of frames:
Computed Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Actual Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Computed.Inverse()*Actual
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000



=====================================================================
PA3-E-Debug: summary
Marker noise level =    0.500
Total iteration counts:  rigid steps 0  mode steps 0 combined steps 0
RMS residual Error: Computed =   2.1770  Actual =   2.1770  Diff =   0.0000
Computed Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Actual Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Computed.Inverse()*Actual Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Matrix forms of frames:
Computed Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Actual Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Computed.Inverse()*Actual
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000



=====================================================================
PA3-F-Debug: summary
Marker noise level =    0.500
Total iteration counts:  rigid steps 0  mode steps 0 combined steps 0
RMS residual Error: Computed =   1.4016  Actual =   1.4016  Diff =   0.0000
Computed Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Actual Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Computed.Inverse()*Actual Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Matrix forms of frames:
Computed Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Actual Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Computed.Inverse()*Actual
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000



=====================================================================
PA3-G-Unknown: summary
Marker noise level =    0.000
Total iteration counts:  rigid steps 0  mode steps 0 combined steps 0
RMS residual Error: Computed =   1.6614  Actual =   1.6614  Diff =   0.0000
Computed Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Actual Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Computed.Inverse()*Actual Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Matrix forms of frames:
Computed Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Actual Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Computed.Inverse()*Actual
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000



=====================================================================
PA3-H-Unknown: summary
Marker noise level =    0.500
Total iteration counts:  rigid steps 0  mode steps 0 combined steps 0
RMS residual Error: Computed =   1.5358  Actual =   1.5358  Diff =   0.0000
Computed Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Actual Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Computed.Inverse()*Actual Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Matrix forms of frames:
Computed Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Actual Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Computed.Inverse()*Actual
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000



=====================================================================
PA3-J-Unknown: summary
Marker noise level =    0.500
Total iteration counts:  rigid steps 0  mode steps 0 combined steps 0
RMS residual Error: Computed =   2.3180  Actual =   2.3180  Diff =   0.0000
Computed Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Actual Freg Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Computed.Inverse()*Actual Fr([   0.0000000,    0.0000000,    0.0000000],[    0.00,     0.00,     0.00]]
Matrix forms of frames:
Computed Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Actual Freg
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000
Computed.Inverse()*Actual
   P   =    0.0000,     0.0000,     0.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000,  0.000000000000,  1.000000000000

