skrobot.coordinates.math.outer_product_matrix

skrobot.coordinates.math.outer_product_matrix(v)

Returns outer product matrix of given v.

Returns following outer product matrix.

\[\begin{split}\left( \begin{array}{ccc} 0 & -v_2 & v_1 \\ v_2 & 0 & -v_0 \\ -v_1 & v_0 & 0 \end{array} \right)\end{split}\]

Parameters:

v (numpy.ndarray or list) – [x, y, z]

Returns:

matrix – 3x3 rotation matrix.

Return type:

numpy.ndarray

Examples

>>> from skrobot.coordinates.math import outer_product_matrix
>>> outer_product_matrix([1, 2, 3])
array([[ 0, -3,  2],
       [ 3,  0, -1],
       [-2,  1,  0]])