skewvector | R Documentation |
Creates a skewvector-class
object.
skewvector(m)
m |
n x 3 matrix or 3 element vector containing a the entries of a skew-symmetric matrix, or an orientation object. |
The rows of m
are 3 element vectors (x,y,z) interpreted as
follows: the matrix exponential of the matrix ((0, -z, y), (z, 0, -x), (-y, x, 0))
is the SO(3) matrix.
A skewvector-class
object.
Duncan Murdoch
skewvector-class
, skewmatrix
, rotmatrix
, rotvector
, eulerzyx
,
eulerzxz
, quaternion
x <- skewvector(c(1,0,0)) x rotmatrix(x) rotation.angle(x)
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