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InvertTrans reads in two transformations and outputs the concatenation of the transformations.
InvertTrans.c contains function that reads in and inverts the transformation file.
By typing InvertTrans - the following options (format description default) are printed:
Usage: InvertTrans (See InvertTrans.html for complete usage)
%S model prefix [required]
%d view 1 [required]
%d view 2 [required]
%S model prefix [required]
Prefix of transformation files.
%d view 1 [required]
Index of view #1.
%d view 2 [required]
Index of view #2.
InvertTrans is used for model building, so it uses the same naming convention as IntegrateMeshes. For instance, given views 1 and 2 of robot, the transformation that maps robot2.wrl to robot1.wrl is named robot.1.2.trans To determine the inverse transformation that maps robot1.wrl to robot2.wrl (robot.2.1.trans) use the command:
InvertTrans robot 1 2