crossmat

(tmp_for_tar/misc/crossmat.m)

Function Synopsis

S = crossmat(x)

Help text

       S = crossmat(x) 

 "Rodriques" matrix : For any  x,y  crossmat(x)*y == cross(x,y).

 Last modified: April 2001

Listing of function file tmp_for_tar/misc/crossmat.m

##       S = crossmat(x) 
##
## "Rodriques" matrix : For any  x,y  crossmat(x)*y == cross(x,y).
## 

## Author:        Etienne Grossmann  <etienne@isr.ist.utl.pt>
## Last modified: April 2001

function S = crossmat(x)


S = [    0, -x(3), x(2);\
     +x(3),     0,-x(1);\
     -x(2),  x(1),    0];