pytransform3d.rotations.check_skew_symmetric_matrix

pytransform3d.rotations.check_skew_symmetric_matrix(V, tolerance=1e-06, strict_check=True)[source]

Input validation of a skew-symmetric matrix.

Check whether the transpose of the matrix is its negative:

V^T = -V

Parameters
Varray-like, shape (3, 3)

Cross-product matrix

tolerancefloat, optional (default: 1e-6)

Tolerance threshold for checks.

strict_checkbool, optional (default: True)

Raise a ValueError if V.T is not numerically close enough to -V. Otherwise we print a warning.

Returns
Varray, shape (3, 3)

Validated cross-product matrix

Raises
ValueError

If input is invalid

Examples using pytransform3d.rotations.check_skew_symmetric_matrix