📄 skew.m
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% Return associated skew matrix of a given 3D vector
function S_hat = skew(S)
S_hat = zeros(3,3);
S_hat(1,2) = - S(3); S_hat(1,3) = S(2); S_hat(2,3) = - S(1);
S_hat(2,1) = S(3); S_hat(3,1) = - S(2); S_hat(3,2) = S(1);
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