pytransform3d.batch_rotations.cross_product_matrices

pytransform3d.batch_rotations.cross_product_matrices(V)[source]

Generate the cross-product matrices of vectors.

The cross-product matrix \boldsymbol{V} satisfies the equation

\boldsymbol{V} \boldsymbol{w} = \boldsymbol{v} \times
\boldsymbol{w}

It is a skew-symmetric (antisymmetric) matrix, i.e. -\boldsymbol{V} = \boldsymbol{V}^T.

Parameters
Varray-like, shape (…, 3)

3d vectors

Returns
V_cross_product_matricesarray, shape (…, 3, 3)

Cross-product matrices of V

Examples using pytransform3d.batch_rotations.cross_product_matrices