skewvector             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 'skewvector-class' object.

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

     skewvector(m)

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

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

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

     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.

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

     A 'skewvector-class' object.

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

     Duncan Murdoch

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

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

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

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

