skewmatrix             package:orientlib             R Documentation

_C_r_e_a_t_e _a_n _o_r_i_e_n_t_a_t_i_o_n _u_s_i_n_g _t_h_e _e_n_t_r_i_e_s _i_n _a _s_k_e_w-_s_y_m_m_e_t_r_i_c _m_a_t_r_i_x _r_e_p_r_e_s_e_n_t_a_t_i_o_n

_D_e_s_c_r_i_p_t_i_o_n:

     Creates a 'skewmatrix-class' object.

_U_s_a_g_e:

     skewmatrix(a)

_A_r_g_u_m_e_n_t_s:

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

_D_e_t_a_i_l_s:

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

_V_a_l_u_e:

     A 'skewmatrix-class' object.

_A_u_t_h_o_r(_s):

     Duncan Murdoch

_S_e_e _A_l_s_o:

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

_E_x_a_m_p_l_e_s:

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

