main/src/georegression/struct/se/SpecialEuclideanOps_F64.java
public static boolean isIdentical( Se3_F64 a , Se3_F64 b , double tolT , double tolR ) {
		if( Math.abs(a.T.x-b.T.x) > tolT )
			return false;
		if( Math.abs(a.T.y-b.T.y) > tolT )
			return false;
		if( Math.abs(a.T.z-b.T.z) > tolT )
			return false;

		DMatrixRMaj D = new DMatrixRMaj(3,3);
		CommonOps_DDRM.multTransA(a.R,b.R,D);

		Rodrigues_F64 rod = new Rodrigues_F64();
		ConvertRotation3D_F64.matrixToRodrigues(D,rod);

		return rod.theta <= tolR;
	}
public static boolean isIdentical( Se3_F64 a , Se3_F64 b , double tolT , double tolR ) {
		if( Math.abs(a.T.x-b.T.x) > tolT )
			return false;
		if( Math.abs(a.T.y-b.T.y) > tolT )
			return false;
		if( Math.abs(a.T.z-b.T.z) > tolT )
			return false;

		DMatrixRMaj D = new DMatrixRMaj(3,3);
		CommonOps_DDRM.multTransA(a.R,b.R,D);

		Rodrigues_F64 rod = new Rodrigues_F64();
		ConvertRotation3D_F64.matrixToRodrigues(D,rod);

		return rod.theta <= tolR;
	}
Can be used to see if two transforms are identical to within tolerance

@param a transform
@param b tranform
@param tolT Tolerance for translation
@param tolR Tolerance for rotation in radians
@return true if identical or false if not