jaxtransform3d.transformations.transform_inverse

jaxtransform3d.transformations.transform_inverse(T: Array | ndarray | bool_ | number | bool | int | float | complex) → Array

Invert transformation matrix.

\[\begin{split}\boldsymbol{T}^{-1} = \left( \begin{array}{cc} \boldsymbol{R} & \boldsymbol{t}\\ \boldsymbol{0} & 1 \end{array} \right)^{-1} = \left( \begin{array}{cc} \boldsymbol{R}^T & -\boldsymbol{R}^T \boldsymbol{t}\\ \boldsymbol{0} & 1 \end{array} \right)\end{split}\]

Parameters:

Tarray-like, shape (…, 4, 4)

Transformation matrix.

Returns:

T_invarray, shape (…, 4, 4)

Inverted transformation matrix.