Compute the matrix representation of the cross product function [V,vShift] = essential_hat3(v) V is a [3x3xN] array of skew-symmetric matrices where each [3x3] block is the matrix representation of the cross product of one of the columns of v vShift is equal to permute(v,[1 3 2]).
0001 %Compute the matrix representation of the cross product 0002 %function [V,vShift] = essential_hat3(v) 0003 %V is a [3x3xN] array of skew-symmetric matrices where each [3x3] block is 0004 %the matrix representation of the cross product of one of the columns of v 0005 %vShift is equal to permute(v,[1 3 2]). 0006 function [V, vShift] = essential_hat3(v) 0007 N = size(v,2); 0008 V = zeros(3,3,N); 0009 vShift = permute(v,[1 3 2]); 0010 V(1,2,:) = -vShift(3,:,:); 0011 V(2,1,:) = vShift(3,:,:); 0012 V(1,3,:) = vShift(2,:,:); 0013 V(3,1,:) = -vShift(2,:,:); 0014 V(2,3,:) = -vShift(1,:,:); 0015 V(3,2,:) = vShift(1,:,:); 0016 end