Motive
Daniali’s trigonometric approach in the spherical case produced a 16th order polynomial. However, his solution is very long.
- Of the 16th order polynomial, he could find only two real solutions in a myriad of numerical trials.
- No equivalent, unified geometric approach to the direct kinematics of P??PM and S??PM has appeared yet.
- Suspecting that the minimal univariate was indeed quadratic, he could not prove it.