19 lines
394 B
Matlab
19 lines
394 B
Matlab
%*** CHAPTER 3: RIGID-BODY MOTIONS ***
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function so3mat = VecToso3(omg)
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% Takes a 3-vector (angular velocity).
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% Returns the skew symmetric matrix in so(3).
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% Example Input:
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%{
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clear; clc;
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omg = [1; 2; 3];
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so3mat = VecToso3(omg)
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%}
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% Output:
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% so3mat =
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% 0 -3 2
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% 3 0 -1
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% -2 1 0
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so3mat = [0, -omg(3), omg(2); omg(3), 0, -omg(1); -omg(2), omg(1), 0];
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end |