Modern_Robotics/code/MATLAB/VecToso3.m

%*** CHAPTER 3: RIGID-BODY MOTIONS ***

function so3mat = VecToso3(omg)
% Takes a 3-vector (angular velocity).
% Returns the skew symmetric matrix in so(3).
% Example Input:
%{
  clear; clc;
  omg = [1; 2; 3];
  so3mat = VecToso3(omg)
%}
% Output:
% so3mat =
%     0    -3     2
%     3     0    -1
%    -2     1     0

so3mat = [0, -omg(3), omg(2); omg(3), 0, -omg(1); -omg(2), omg(1), 0];
end
First commit after reinitialization @HuanWeng added approximately 27 commits on top of the original code that was created by @MikhailTodes. This included some bug fixes, documentation, and rebasing. It was decided to wipe the entire history of the repo as the current state of the code is a more stable place to continue developing from. 2017-01-16 18:06:15 +00:00			`%* CHAPTER 3: RIGID-BODY MOTIONS *`

			`function so3mat = VecToso3(omg)`
			`% Takes a 3-vector (angular velocity).`
			`% Returns the skew symmetric matrix in so(3).`
			`% Example Input:`
			`%{`
Synchronizing Huan's commits Pulled in all changes up to commit https://github.com/HuanWeng/ModernRobotics/commit/3af09e85e87ed1e47261039a9b3954a7cfd2d798 2018-04-30 15:42:43 +00:00			`clear; clc;`
First commit after reinitialization @HuanWeng added approximately 27 commits on top of the original code that was created by @MikhailTodes. This included some bug fixes, documentation, and rebasing. It was decided to wipe the entire history of the repo as the current state of the code is a more stable place to continue developing from. 2017-01-16 18:06:15 +00:00			`omg = [1; 2; 3];`
			`so3mat = VecToso3(omg)`
			`%}`
			`% Output:`
			`% so3mat =`
			`% 0 -3 2`
			`% 3 0 -1`
			`% -2 1 0`

			`so3mat = [0, -omg(3), omg(2); omg(3), 0, -omg(1); -omg(2), omg(1), 0];`
			`end`