skewmatrix {orientlib}

Create an orientation using the entries in a skew-symmetric matrix representation

Description

Creates a skewmatrix-class object.

Usage

skewmatrix(a)

Arguments

a

3 x 3 x n array or 3 x 3 matrix containing the entries of a skew-symmetric matrix, or an orientation object.

Details

The entries a[,,i] are 3 x 3 skew-symmetric matrices. The matrix exponential of these give SO(3) matrices.

Value

A skewmatrix-class object.

Author(s)

Duncan Murdoch

See Also

skewvector-class, skewvector, rotmatrix, rotvector, eulerzyx, eulerzxz, quaternion

Examples

x <- skewmatrix(matrix(c(0,1,2,-1,0,3,-2,-3,0),3,3))
x
rotmatrix(x)
skewvector(x)
rotation.angle(x)