skewvector {orientlib}

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

Description

Creates a skewvector-class object.

Usage

skewvector(m)

Arguments

m

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

Details

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.

Value

A skewvector-class object.

Author(s)

Duncan Murdoch

See Also

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

Examples

x <- skewvector(c(1,0,0))
x
rotmatrix(x)
rotation.angle(x)