Template Function navtk::navutils::skew(const S&)

• Defined in File math.hpp

Function Documentation

template<typename S = Vector, IfTensorOfDim<S, 1>* = nullptr>
Matrix3 navtk::navutils::skew(const S &angles)

Forms skew symmetric matrices from 3-length vectors of values.

Typically used to form a matrix to correct a Direction Cosine Matrix from the platform frame or sensor frame to the navigation frame with estimated tilt angles in the navigation frame.

If the input vector is \([x, y, z]\), then the resulting skew-symmetric matrix is

\( \begin{bmatrix} 0 & -z & y \\ z & 0 & -x \\ -y & x & 0 \end{bmatrix}\)

Template Parameters

• S – Type of angles, Vector by default.

• std::enable_if_t<> – Constrains S to be 1 dimensional.

Parameters

angles – 3-length vectors of angular values, shape (3). Can accept initializer lists.

Returns

Equivalent skew-symmetric matrices, shape (3, 3)