How do we define the distance between two lines or planes that intersect? Since it cannot be defined injectively for every point, is it defined at all in such a case?
How do we define the distance between two lines or planes that intersect?
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In a metric space, given a distance function $d$ on a space $X$, it is customary to define the distance between two nonempty subsets $A,B$ of $X$ as $d(A,B)=\inf(\{d(a,b)\mid (a,b)\in A\times B\})$.
In the special case of ordinary Euclidean distance, and two subsets that share a point $x$, the minimum would be attained by $d(x,x)=0$.
But using this definition, two sets that are disjoint can also have $d(A,B)=0$. For example, if $A=\{(a,0)\mid 0<a<1\}$ and $B=\{(1,0)\}$.
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As noted in comments and other answers, the distance between them in the usual sense is $0$. Another way to measure "how far apart" they are is to use the angle between them. That would be $0$ if they were identical and $\pi/2$ if they were perpendicular. Perhaps that would be useful in your application.
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In this situation it is better to use the distance on the Grassmann manifold. First, given a set $E \subset \mathbb R^p$ and $v \in \mathbb R^p$, let $$ d(v,E)=\inf \big\{\lVert v-w \rVert: w \in E \big\}. $$ Then, given subspaces $E,F \subset \mathbb R^p$, we define $$ d(E,F)=\max \bigg\{ \max_{v \in E, \lVert v \rVert=1} d(v,F), \max_{w \in F, \lVert w \rVert=1} d(w,E) \bigg\}. $$
PS: We cannot use angles without anything else simply because they do not define a distance!
The distance between two sets that intersect is always $0$.