skewmatrix | R Documentation |
Creates a skewmatrix-class
object.
skewmatrix(a)
a |
3 x 3 x n array or 3 x 3 matrix containing the entries of a skew-symmetric matrix, or an orientation object. |
The entries a[,,i]
are 3 x 3 skew-symmetric matrices.
The matrix exponential of these give SO(3) matrices.
A skewmatrix-class
object.
Duncan Murdoch
skewvector-class
, skewvector
, rotmatrix
, rotvector
, eulerzyx
,
eulerzxz
, quaternion
x <- skewmatrix(matrix(c(0,1,2,-1,0,3,-2,-3,0),3,3)) x rotmatrix(x) skewvector(x) rotation.angle(x)
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