vector 2 skew-symmetric matrix

Discussion in 'Feature Requests' started by Jongwoo Lee, Feb 15, 2018.

  1. Hello,

    I believe skew symmetric matrix is largely used in robotics community, thus suggest to include a function such as

    mju_Vec2Skew(mjtNum res[9], const mjtNum vec[3]) 
    - currently I built my own ( does not look efficient tho).
    Last edited: Feb 15, 2018
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    True, however adding every function that is useful is not the design goal of MuJoCo. Functions that are used internally are exposed, but general-purpose functions that MuJoCo itself does not use are not available -- otherwise we would end up reinventing LAPACK.

    I doubt your implementation of the above function is inefficient -- all you have to do is copy the numbers from vec to res twice, and put minus signs in the right places. Any compiler should figure out how to do this efficiently...