inv

DCM.inv

Inverse of the DCM.

The direction cosine matrix belongs to the Special Orthogonal group SO(3), where its transpose is equal to its inverse:

\[\mathbf{R}^T\mathbf{R} = \mathbf{R}^{-1}\mathbf{R} = \mathbf{I}_3\]

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.inv
array([[ 0.92541658,  0.16317591,  0.34202014],
       [-0.31879578,  0.82317294,  0.46984631],
       [-0.20487413, -0.54383814,  0.81379768]])

Returns:

Inverse of the DCM.

Return type:

np.ndarray