adjugate

DCM.adjugate

Return the adjugate of the DCM.

The adjugate, a.k.a. classical adjoint, of a matrix \(\mathbf{A}\) is the transpose of its cofactor matrix. For orthogonal matrices, it simplifies to:

\[\mathrm{adj}(\mathbf{A}) = \mathrm{det}(\mathbf{A})\mathbf{A}^T\]

Returns:

Adjugate of the DCM.

Return type:

np.ndarray

Examples

>>> R = DCM(rpy=[10.0, -20.0, 30.0])
>>> R.view()
DCM([[ 0.92541658, -0.31879578, -0.20487413],
     [ 0.16317591,  0.82317294, -0.54383814],
     [ 0.34202014,  0.46984631,  0.81379768]])
>>> R.adjugate
array([[ 0.92541658,  0.16317591,  0.34202014],
       [-0.31879578,  0.82317294,  0.46984631],
       [-0.20487413, -0.54383814,  0.81379768]])