skew¶
- giant.rotations.skew(vector)[source]¶
This function returns a numpy array with the skew symmetric cross product matrix for vector.
The skew symmetric cross product matrix is defined such that:
\[\begin{split}\mathbf{a}\times\mathbf{b}=\left[\mathbf{a}\times\right]\mathbf{b} \\ \left[\mathbf{a}\times\right] = \left[\begin{array}{ccc} 0 & -a_3 & a_2 \\ a_3 & 0 & -a_1 \\ -a_2 & a_1 & 0 \end{array}\right]\end{split}\]where \(\times\) indicates the cross product and \(\left[\bullet\times\right]\) is the skew symmetric cross product matrix
This function is vectorized, therefore you can input multiple vectors as a 3xn array where each column is an independent vector. The resulting skew matrix output will be nx3x3 where the first axis stores each matrix
- Parameters:
vector (Sequence | ndarray) – The vector to compute a skew symmetric matrix for
- Returns:
The skew symmetric cross product matrix(ces) corresponding to the vector(s)
- Return type:
ndarray