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40 lines
1.2 KiB
40 lines
1.2 KiB
%SKEW Create skew-symmetric matrix
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%
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% S = SKEW(V) is a skew-symmetric matrix formed from V (3x1).
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%
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% | 0 -vz vy|
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% | vz 0 -vx|
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% |-vy vx 0 |
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%
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% See also VEX.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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function S = skew(v)
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if isvec(v,3)
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% SO(3) case
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S = [ 0 -v(3) v(2)
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v(3) 0 -v(1)
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-v(2) v(1) 0];
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elseif isvec(v,1)
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% SO(2) case
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S = [0 -v; v 0];
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else
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error('argument must be a 1- or 3-vector');
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end
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