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