12 lines
243 B
Mathematica
12 lines
243 B
Mathematica
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function [iHT] = invHT(HT)
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% Authors: Quentin Leboutet, Julien Roux, Alexandre Janot and Gordon Cheng
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%
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% Returns the inverse of the homogeneous transformation HT.
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iHT=HT;
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iHT(1:3,1:3)=HT(1:3,1:3)';
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iHT(1:3,4)=-HT(1:3,1:3)'*HT(1:3,4);
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end
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