18 lines
398 B
Mathematica
18 lines
398 B
Mathematica
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function omg = so3ToVec(so3mat)
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% *** CHAPTER 3: RIGID-BODY MOTIONS ***
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% Takes a 3x3 skew-symmetric matrix (an element of so(3)).
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% Returns the corresponding 3-vector (angular velocity).
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% Example Input:
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%
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% clear; clc;
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% so3mat = [[0, -3, 2]; [3, 0, -1]; [-2, 1, 0]];
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% omg = so3ToVec(so3mat)
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%
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% Output:
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% omg =
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% 1
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% 2
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% 3
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omg = [so3mat(3, 2); so3mat(1, 3); so3mat(2, 1)];
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end
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