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Add method for inverse rotation matrix. #13034

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merged 2 commits into from Jul 25, 2017

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szymag commented Jul 24, 2017

This PR introduces method for calculation inverse transformation matrix.
It wil be used for calculation of inverse transformation equations.

It could be also done by substitution angle -> -angle. The result is the same if we remember that sine is odd -sin(angle)=sin(-angle) and cosine is even cos(-angle)=cos(angle)

szymag added some commits Jul 23, 2017

Add inverse rotation_matrix.
Move matrix to _rotation_trans_equations argument
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szymag Jul 24, 2017

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ping @Upabjojr

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szymag commented Jul 24, 2017

ping @Upabjojr

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Upabjojr Jul 24, 2017

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This looks good. Let's wait for the tests to finish.

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Upabjojr commented Jul 24, 2017

This looks good. Let's wait for the tests to finish.

@Upabjojr Upabjojr merged commit b42c1c6 into sympy:master Jul 25, 2017

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