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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 |
© 1990-2014 Peter Corke.