skew

Returns a skew symmetric matrix such that

\[\boldsymbol{v} \times \boldsymbol{u} = \tilde{\boldsymbol{v}}{\boldsymbol{u}\]

where

\[\begin{split}\tilde{\boldsymbol{v}} = \begin{bmatrix} 0 & -v_z & v_y \\ v_z & 0 & -v_x \\ -v_y & v_x & 0 \end{bmatrix}.\end{split}\]

param vector:

3-dimensional vector

type vector:

np.ndarray

returns:

Skew-symmetric matrix.

rtype:

np.array