inverse

Specification

Location	Author	Maintained by
isl/math/coordsys.py	Kenny Erleben	DIKU

Purpose & Params

The purpose of this function is to find the inverse coordinate transformation. This function is the inverse of cs.xform_point

Example

   x,y,z      = 1,0,5
   radians    = np.pi * 0.75
   axis       = np.array([0,-0.5,1])
   r          = vec3.make(x,y,z)
   q          = quat.Ru(radians, axis)
   coordsys   = cs.make(r,q)
   point      = np.array([1,0,0])
   point_rot  = cs.xform_point(coordsys, point)
   coordsys_inverse = cs.inverse(coordsys)        
   print(f"Point: {cs.xform_point(coordsys_inverse, point_rot)}" )
   print(f"Original point: {point}")

Output

Point: [1. 0. 0.]
Original point: [1 0 0]