rigid_inverse Function

public pure function rigid_inverse(m) result(inv)

The inverse of a rigid transform (rotation and translation): [R' -R't].

Arguments

Type IntentOptional Attributes Name
real(kind=wp), intent(in) :: m(4,4)

rigid transform (rotation and translation)

Return Value real(kind=wp), (4,4)


Called by

proc~~rigid_inverse~~CalledByGraph proc~rigid_inverse rigid_inverse proc~data_to_shown data_to_shown proc~data_to_shown->proc~rigid_inverse proc~world_matrix_at ReferenceFrame%world_matrix_at proc~data_to_shown->proc~world_matrix_at proc~fly fly proc~fly->proc~rigid_inverse proc~world_to_view View%world_to_view proc~fly->proc~world_to_view proc~followed_pose followed_pose proc~followed_pose->proc~rigid_inverse proc~followed_pose->proc~world_matrix_at proc~frame_to_root frame_to_root proc~frame_to_root->proc~rigid_inverse proc~get_camera WindowProxy%get_camera proc~get_camera->proc~rigid_inverse proc~get_camera->proc~world_to_view proc~place place proc~place->proc~rigid_inverse proc~position_of ReferenceFrame%position_of proc~position_of->proc~rigid_inverse proc~time_drag TimeHandle%time_drag proc~time_drag->proc~rigid_inverse proc~world_to_view->proc~rigid_inverse proc~world_to_view->proc~frame_to_root proc~home View%home proc~home->proc~frame_to_root proc~home->proc~world_to_view proc~local_matrix_at ReferenceFrame%local_matrix_at proc~local_matrix_at->proc~followed_pose proc~place_camera place_camera proc~place_camera->proc~fly proc~place_camera->proc~world_to_view proc~place_camera->proc~home proc~set_camera WindowProxy%set_camera proc~set_camera->proc~world_to_view proc~shadow_late_update ShadowCones%shadow_late_update proc~shadow_late_update->proc~place proc~to_shown to_shown proc~to_shown->proc~data_to_shown proc~track_view track_view proc~track_view->proc~world_to_view proc~update ReferenceFrame%update proc~update->proc~followed_pose proc~view_camera view_camera proc~view_camera->proc~get_camera proc~art_point_between art_point_between proc~art_point_between->proc~to_shown proc~cursor_ray WindowProxy%cursor_ray proc~cursor_ray->proc~view_camera proc~drawable_update DrawableTrajectory%drawable_update proc~drawable_update->proc~update proc~fm_update FrameManager%fm_update proc~fm_update->proc~update proc~frame WindowProxy%frame proc~frame->proc~place_camera proc~frame->proc~track_view proc~dispatch_events dispatch_events proc~frame->proc~dispatch_events proc~screen_position WindowProxy%screen_position proc~screen_position->proc~view_camera proc~sphere_update Sphere%sphere_update proc~sphere_update->proc~update proc~terrain_update TerrainBody%terrain_update proc~terrain_update->proc~update proc~to_shown_at to_shown_at proc~to_shown_at->proc~to_shown proc~window_pick WindowProxy%window_pick proc~window_pick->proc~view_camera proc~world_matrix_at->proc~local_matrix_at proc~world_matrix_at->proc~world_matrix_at proc~art_point art_point proc~art_point->proc~to_shown_at proc~art_points art_points proc~art_points->proc~to_shown_at proc~drag_handle drag_handle proc~drag_handle->proc~cursor_ray proc~grab_handle grab_handle proc~grab_handle->proc~cursor_ray proc~hover_handle hover_handle proc~hover_handle->proc~window_pick proc~intermediates_by_time intermediates_by_time proc~intermediates_by_time->proc~art_point_between proc~marker_point marker_point proc~marker_point->proc~to_shown_at proc~marker_point->proc~art_point proc~resize WindowProxy%resize proc~resize->proc~frame proc~run WindowProxy%run proc~run->proc~frame proc~update_ribbon_tail RibbonArtist%update_ribbon_tail proc~update_ribbon_tail->proc~art_point_between proc~update_ribbon_tail->proc~art_point proc~update_tail CurveArtist%update_tail proc~update_tail->proc~art_point_between proc~update_tail->proc~art_point proc~write_segments write_segments proc~write_segments->proc~to_shown_at proc~add_intermediates add_intermediates proc~add_intermediates->proc~intermediates_by_time proc~intermediates_by_data intermediates_by_data proc~add_intermediates->proc~intermediates_by_data proc~intermediates_by_distance intermediates_by_distance proc~add_intermediates->proc~intermediates_by_distance proc~curve_pick curve_pick proc~curve_pick->proc~art_point proc~dispatch_event dispatch_event proc~dispatch_event->proc~drag_handle proc~dispatch_event->proc~grab_handle proc~dispatch_event->proc~hover_handle proc~release_handle release_handle proc~dispatch_event->proc~release_handle proc~intermediates_by_data->proc~art_point proc~intermediates_by_distance->proc~art_point proc~marker_update MarkerArtist%marker_update proc~marker_update->proc~marker_point proc~marker_update->proc~add_intermediates proc~update_bounds update_bounds proc~marker_update->proc~update_bounds proc~release_handle->proc~hover_handle proc~segment_update SegmentArtist%segment_update proc~segment_update->proc~write_segments proc~update_bounds->proc~art_points proc~write_curve CurveArtist%write_curve proc~write_curve->proc~art_points proc~write_ribbon RibbonArtist%write_ribbon proc~write_ribbon->proc~art_points proc~dispatch_events->proc~dispatch_event proc~drawable_pick DrawableTrajectory%drawable_pick proc~drawable_pick->proc~curve_pick

Source Code

    pure function rigid_inverse(m) result(inv)
        real(wp), intent(in) :: m(4,4)                  !! rigid transform (rotation and translation)
        real(wp) :: inv(4,4)
        inv = 0.0_wp
        inv(1:3, 1:3) = transpose(m(1:3, 1:3))
        inv(1:3, 4) = -matmul(inv(1:3, 1:3), m(1:3, 4))
        inv(4, 4) = 1.0_wp
    end function rigid_inverse