skew.exp

Compute the matrix exponential for skew-symmetric matrices according to the usual Taylor expansion.
The expansion is significantly simplified for skew-symmetric matrices, see <cite>moakher02</cite>.
Maps a matrix belonging to the lie algebra \(so(3)\) into the lie group \(SO(3)\).

Tools for working with rotational data, including
simulation from the most commonly used distributions on SO(3),
methods for different Bayes, mean and median type estimators for
the central orientation of a sample, confidence/credible
regions for the central orientation based on those estimators and
a novel visualization technique for rotation data.  Most recently,
functions to identify potentially discordant (outlying) values
have been added.  References: Bingham, Melissa A. and Nordman, Dan J. and Vardeman, Steve B. (2009),
Bingham, Melissa A and Vardeman, Stephen B and Nordman, Daniel J (2009),
Bingham, Melissa A and Nordman, Daniel J and Vardeman, Stephen B (2010),
Leon, C.A. and Masse, J.C. and Rivest, L.P. (2006),
Hartley, R and Aftab, K and Trumpf, J. (2011),
Stanfill, Bryan and Genschel, Ulrike and Hofmann, Heike (2013),
Maonton, Jonathan (2004),
Mardia, KV and Jupp, PE (2000, ISBN:9780471953333),
Rancourt, D. and Rivest, L.P. and Asselin, J. (2000),
Chang, Ted and Rivest, Louis-Paul (2001),
Fisher, Nicholas I. (1996, ISBN:0521568900).

Bryan Stanfill

rotations

Working with Rotation Data

Heike Hofmann

Ulrike Genschel

Aymeric Stamm

Luciano Selzer

skew.exp function

<dl><dt>x</dt>
<dd>single \(3\times 3\) skew-symmetric matrix or \(n\times 9\) sample of skew-symmetric matrices.</dd></dl>

Arguments

Matrix exponential — skew.exp

<dl>

<dt>x</dt>
<dd>single \(3\times 3\) skew-symmetric matrix or \(n\times 9\) sample of skew-symmetric matrices.</dd>

</dl>

skew.exp: Matrix exponential

Description

Usage

Value

Arguments

Details

Examples