vex
Convert skew-symmetric matrix to vector
v = vex(s) is the vector (3x1) which has the skew-symmetric matrix s (3x3)
| 0 -vz vy|
| vz 0 -vx|
|-vy vx 0 |
Notes
- This is the inverse of the function SKEW().
- No checking 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, ie. vx = 0.5*(S(3,2)-S(2,3))
See also
skew
© 1990-2012 Peter Corke.