反对称矩阵
Matrix3d skew_symmetric(Vector3d v)
{
Matrix3d m;
m << 0, -v(2), v(1),
v(2), 0, -v(0),
-v(1), v(0), 0;
return m;
}
反对称矩阵
Matrix3d skew_symmetric(Vector3d v)
{
Matrix3d m;
m << 0, -v(2), v(1),
v(2), 0, -v(0),
-v(1), v(0), 0;
return m;
}