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Questions on exact, symmetric reversal of a definition or functional mapping (i.e. the original form is returned when applied twice). Use this tag for issues on inversion of Mathematica expressions, or general inversion of math constructs.

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inverse is given by $$\begin{bmatrix} \mathrm{R}^{-1} & -\mathrm{R}^{-1}\mathrm{d} \\ 0 & 1 \end{bmatrix}$$ Therefore, if your homogeneous matrix is (I have added the 1 in the lower … corner that I think should be there) iab = {{1, 0, 0, 0}, {0, 0, -1, 0}, {0, 1, 0, 3}, {0, 0, 0, 1} }; then the inverse can be written as (note that for rotation matrices …
answered Feb 13 '16 by march