vex
Convert skew-symmetric matrix to vector
v = vex(s) is the vector which has the corresponding skew-symmetric
matrix s.
In the case that s (2x2) then v is 1x1
S = | 0 -v |
| v 0 |
In the case that s (3x3) then v is 3x1.
| 0 -vz vy |
S = | vz 0 -vx |
|-vy vx 0 |
Notes
- This is the inverse of the function SKEW().
- Only rudimentary checking (zero diagonal) is done to ensure that the
matrix is actually skew-symmetric.
- The function takes the mean of the two elements that correspond to
each unique element of the matrix.
References
- Robotics, Vision & Control: Second Edition, Chap 2,
P. Corke, Springer 2016.
See also
skew, vexa
© 1990-2014 Peter Corke.