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Robotics_Toolbox >> Robotics_Toolbox > vex

vex

Convert skew-symmetric matrix to vector

Calling Sequence

V = vex(S)

Description

V = VEX(S) is the vector (3x1) which has the skew-symmetric matrix S (3x3)

\begin{bmatrix}
0 & -vz & vy \\
vz & 0 & -vx \\
-vy & vx & 0
\end{bmatrix}

Notes

See also

Authors


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