pytransform3d.rotations.check_skew_symmetric_matrix

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

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