function invR = RotInv(R)
% *** CHAPTER 3: RIGID-BODY MOTIONS ***
% Takes a 3x3 rotation matrix.
% Returns the inverse (transpose).
% Example Input:
%
% clear; clc;
% R = [0, 0, 1; 1, 0, 0; 0, 1, 0];
% invR = RotInv(R)
% Output:
% invR =
% 0 1 0
% 0 0 1
% 1 0 0
invR = R';
end
