Template Function mrpt::math::homogeneousMatrixInverse(const MATRIXLIKE1&, MATRIXLIKE2&)

• Defined in File homog_matrices.h

Function Documentation

template<class MATRIXLIKE1, class MATRIXLIKE2>
void mrpt::math::homogeneousMatrixInverse(const MATRIXLIKE1 &M, MATRIXLIKE2 &out_inverse_M)

Efficiently compute the inverse of a 4x4 homogeneous matrix by only transposing the rotation 3x3 part and solving the translation with dot products. This is a generic template which works with: MATRIXLIKE: CMatrixDynamic, CMatrixFixed