22 lines
718 B
Matlab
22 lines
718 B
Matlab
function invRotationMatrix = inverse3DRotationMatrix(rotationMatrix)
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% function invRotationMatrix = inverse3DRotationMatrix(rotationMatrix)
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% Task: Inverse a 3D rotation matrix
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%
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% Inputs:
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% - rotationMatrix: the rotation matrix to inverse
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%
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% Output:
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% -invRotationMatrix: the inverse of the rotation matrix
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%
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%
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% author: Guillaume Gibert, guillaume.gibert@ecam.fr
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% date: 25/01/2021
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% checks if the input rotation matrix has the right size
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if (size(rotationMatrix, 1) != 3 || size(rotationMatrix, 2) != 3)
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fprintf('[ERROR] (inverseRotationMatrix) -> the size of the input rotation matrix is not 3x3!\n');
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end
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invRotationMatrix = rotationMatrix'; |