`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