inverseH

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inverseH

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Syntax

Y = inverseH(H);

Y = inverseH(R,P);

Description

Returns the inverse of a homogeneous matrix H [4,4]. The homogeneous matrix can be entered directly or by a rotation matrix R[3,3] and position vector P [3,1].

The size of the inverse Y is also [4,4].

 

This function uses the special nature of a homogeneous matrix. I.e the inverse can be computed directly instead of the numerical approach of the standard inverse function.

Examples

H = [cos(alpha),-sin(alpha),0,p1 ; sin(alpha),cos(alpha),0,p2 ; 0,0,0,p3 ; 0,0,0,1];

Y = inverseH(H);

or

R = [cos(alpha),-sin(alpha),0 ; sin(alpha),cos(alpha),0 ; 0,0,0];

P = [p1 ; p2 ; p3];

Y = inverseH(R,P);

Limitations

H must be a homogeneous matrix of size [4,4], R must always be of size[3,3] , P must have the size [3,1] and Y must have size [4,4].