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calc_S

PURPOSE ^

% skew matrix of 3-vector

SYNOPSIS ^

function S = calc_S(x)

DESCRIPTION ^

% skew matrix of 3-vector
 see PCV (A.34)
 
 Usage:
   S = calc_S(x)

   x - 3x1 vector
   S - 3x3 skew matrix

 let x = [a b c], than
     S = [  0 -c  b |
         | -c  0 -a |
         | -b  a  0 ]

 Wolfgang Förstner 1/2011
 wfoerstn@uni-bonn.de 

 See also calc_S_reduced, calc_v_from_S

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% skew matrix of 3-vector
0002 % see PCV (A.34)
0003 %
0004 % Usage:
0005 %   S = calc_S(x)
0006 %
0007 %   x - 3x1 vector
0008 %   S - 3x3 skew matrix
0009 %
0010 % let x = [a b c], than
0011 %     S = [  0 -c  b |
0012 %         | -c  0 -a |
0013 %         | -b  a  0 ]
0014 %
0015 % Wolfgang Förstner 1/2011
0016 % wfoerstn@uni-bonn.de
0017 %
0018 % See also calc_S_reduced, calc_v_from_S
0019 
0020 function S = calc_S(x)
0021 S = [...
0022      0    -x(3)  x(2);...
0023      x(3)    0  -x(1);...
0024     -x(2)  x(1)    0 ...
0025     ];

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