function

LieGroups.SO3.Quat.vee

Vee map: 3x3 skew-symmetric matrix -> so(3) vector (S^vee)

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`S`	`Real`	`[3,3]`	Skew-symmetric matrix
output	`v`	`Real`	`[3]`	Rotation vector

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function vee "Vee map: 3x3 skew-symmetric matrix -> so(3) vector (S^vee)"
  input Real S[3,3] "Skew-symmetric matrix";
  output Real v[3] "Rotation vector";
algorithm
  v[1] := S[3,2];
  v[2] := S[1,3];
  v[3] := S[2,1];
end vee;