Given an SE(3) matrix representing a rigid-body motion, compute its inverse without using inv() or pinv() .
Most nonzero elements in row
matrix of natural number
Matrix multiplication across rows
Determine roll pitch yaw angles from a 3D rotation matrix
Create a 3D rotation matrix from roll-pitch-yaw angles
Relative points in 2D: problem 1
Composing relative poses in 2D: problem 1
Invert a 3D rotation matrix
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