Robotics
/
Modern_Robotics
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Update TransInv.m for Symbolic T Matrices 

Changing R' to transpose(R) allows you to use it on symbolic matrices by enforcing a non-conjugate transpose.
This commit is contained in:
zackwoodruff 2019-11-18 18:18:01 -06:00 committed by GitHub
parent df6dace3b6
commit e432c835a4
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
packages/MATLAB/mr/TransInv.m
View File

@ -18,5 +18,5 @@ function invT = TransInv(T)
% 0 0 0 1
[R, p] = TransToRp(T);
invT = [R', -R' * p; 0, 0, 0, 1];
end
invT = [transpose(R), -transpose(R) * p; 0, 0, 0, 1];
end