Function navtk::navutils::skew

• Defined in File math.hpp

Function Documentation

Matrix3 navtk::navutils::skew(const Vector3 &angles)

Forms a skew symmetric matrix from a 3-length vector 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

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

Parameters

angles – 3-length vector of angular values

Returns

Equivalent skew-symmetric matrix