transform_inverse Function

public pure function transform_inverse(x) result(rst)

Computes the inverse of a 4-by-4 homogeneous transformation matrix.

Given $T = \left( \begin{matrix} R & \vec{p} \\ 0 & 1 \end{matrix} \right)$, the inverse is $$T^{-1} = \left( \begin{matrix} R^{T} & -R^{T} \vec{p} \\ 0 & 1 \end{matrix} \right).$$

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=real64),	intent(in)			::	x(4,4)	The 4-by-4 transformation matrix.

Return Value real(kind=real64), (4,4)

The inverted 4-by-4 transformation matrix.

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