Modern_Robotics/code/MATLAB/RotInv.m

%*** CHAPTER 3: RIGID-BODY MOTIONS ***

function invR = RotInv(R)
% 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