function

LieGroups.SO3.Quat.wedge

Wedge map: so(3) vector -> 3x3 skew-symmetric matrix (xi^wedge)

Public declarations

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

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

Modelica declarations and implementation

Show parameters, interfaces and source

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

function wedge "Wedge map: so(3) vector -> 3x3 skew-symmetric matrix (xi^wedge)"
  input Real v[3] "Rotation vector";
  output Real S[3,3] "Skew-symmetric matrix [v]x";
algorithm
  S[1,1] :=  0;     S[1,2] := -v[3];  S[1,3] :=  v[2];
  S[2,1] :=  v[3];  S[2,2] :=  0;     S[2,3] := -v[1];
  S[3,1] := -v[2];  S[3,2] :=  v[1];  S[3,3] :=  0;
end wedge;