Adjugate Formula
From Robotics
The adjugate formula defines the inverse of an n-by-n square matrix as
where is the so called adjugate matrix of . The adjugate matrix is the transposed of the cofactor matrix:
And the cofactor matrix is just a matrix where each cell corresponds to the related cofactor:
So to determine the inverse of an n-by-n square matrix you have to compute the n square cofactors, then transpose the resulting cofactor matrix and divide all the values by the determinant.
Example: inverse of a 4-by-4 matrix
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