skewMatrix

pyCGM2.Math.numeric.skewMatrix(vector: ndarray | matrix)

Generate a skew-symmetric matrix from a given vector.

A skew-symmetric (or antisymmetric) matrix is a square matrix whose transpose equals its negative. This function is commonly used in 3D mathematics, particularly in computing vector cross products, rigid body dynamics, and other applications in physics and engineering.

Parameters:

vector (Union[np.ndarray, np.matrix]) – A 3-element vector from which the skew-symmetric matrix is generated. Can be either a numpy array or a numpy matrix.

Returns:

A 3x3 skew-symmetric matrix derived from the input vector.