closestParameterOnSegment
Finds the parameter t where the distance between two poses is minimized.
This is useful for finding the closest point on a line segment between two poses.
Formula: \(t = \frac{(\mathbf{p} - \mathbf{a}) \cdot (\mathbf{b} - \mathbf{a})}{|\mathbf{b} - \mathbf{a}|^2}\)
Return
the parameter t clamped to 0, 1
Parameters
start
the starting pose
end
the ending pose