optimizeMultiIntrinsicCostLie.m

%{
 * Copyright (C) 2013-2025, The Regents of The University of Michigan.
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
 %}


function cost = optimizeMultiIntrinsicCostLie (X, plane, ring, theta_x, theta_y, theta_z, T, S)
    cost = 0;
    for i = 1: length(X)
        cost = cost + optimizeIntrinsicCostLie(X{i}(ring), plane{i}, theta_x, theta_y, theta_z, T, S);
    end
end