10 lines
138 B
Mathematica
10 lines
138 B
Mathematica
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function m = inv_Ad_transf(g)
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R = g(1:3,1:3);
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p = g(1:3,4);
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t1 = vec2skewSymMat(p);
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m = [R', -R'*t1;
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zeros(3,3), R'];
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end
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