%INVHT invert homogeneous transformation % inverts a homogeneous transformation matrix % % Syntax: Tinv = invht(T) % % Inputs: % T - transformation matrix % % Outputs: % Tinv - inverted transformation matrix % Author: Travis Hydzik % Last revision: 19 October 2004 function Tinv = invht(T) A = T(1:3, 1:3); b = T(1:3, 4); Tinv = [ A' -A'*b 0 0 0 1 ];