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