MRPT  1.9.9
homog_matrices.h File Reference
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 This base provides a set of functions for maths stuff.


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. More...
template<class IN_ROTMATRIX , class IN_XYZ , class OUT_ROTMATRIX , class OUT_XYZ >
void mrpt::math::homogeneousMatrixInverse (const IN_ROTMATRIX &in_R, const IN_XYZ &in_xyz, OUT_ROTMATRIX &out_R, OUT_XYZ &out_xyz)
template<class MATRIXLIKE >
void mrpt::math::homogeneousMatrixInverse (MATRIXLIKE &M)

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