23 lines
533 B
Mathematica
23 lines
533 B
Mathematica
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%*** CHAPTER 3: RIGID-BODY MOTIONS ***
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function invT = TransInv(T)
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% Takes a transformation matrix T.
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% Returns its inverse.
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% Uses the structure of transformation matrices to avoid taking a matrix
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% inverse, for efficiency.
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% Example Input:
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%{
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clear; clc;
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T = [[1, 0, 0, 0]; [0, 0, -1, 0]; [0, 1, 0, 3]; [0, 0, 0, 1]];
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invT = TransInv(T)
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%}
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% Ouput:
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% invT =
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% 1 0 0 0
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% 0 0 1 -3
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% 0 -1 0 0
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% 0 0 0 1
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[R, p] = TransToRp(T);
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invT = [R', -R' * p; 0, 0, 0, 1];
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end
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