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vexa

Convert augmented skew-symmetric matrix to vector

v = vexa(s) is the vector which has the corresponding augmented skew-symmetric matrix s.

v is 1x3 in the case that s (3x3) =

|  0  -v3  v1 |
| v3    0  v2 |
|  0    0   0 |

v is 1x6 in the case that s (6x6) =

|  0  -v6   v5  v1 |
| v6    0  -v4  v2 |
|-v5   v4    0  v3 |
|  0    0    0   0 |

Notes

References

See also

skewa, vex, Twist


 

© 1990-2014 Peter Corke.