Invert Transformation Matrix
SUMMARY
invert_transformation_matrix returns the inverse of a 4x4 homogeneous transformation matrix.
UNITS
Both the input and returned transformation matrices have translation in meters.
The Skill
python
T_inv = tfutils.invert_transformation_matrix(T)Parameter Configuration
| Parameter | Type | Default | Description |
|---|---|---|---|
transformation_matrix | np.ndarray | required | The (4, 4) transformation matrix to invert. |
Returns
| Type | Description |
|---|---|
np.ndarray | The inverted (4, 4) transformation matrix. |
Raises
| Exception | Condition |
|---|---|
ValueError | transformation_matrix is not a (4, 4) np.ndarray. |