Compute the matrix exponential for skew-symmetric matrices according to the usual Taylor expansion.
The expansion is significantly simplified for skew-symmetric matrices, see moakher02.
Maps a matrix belonging to the lie algebra \(so(3)\) into the lie group \(SO(3)\).
Usage
skew.exp(x)
Arguments
x
single \(3\times 3\) skew-symmetric matrix or \(n\times 9\) sample of skew-symmetric matrices.
# NOT RUN {Rs <- ruars(20, rcayley)
lRs <- log(Rs) #Take the matrix logarithm for rotation matricesRs2 <- skew.exp(lRs) #Go back to rotation matricesall.equal(Rs, Rs2)
# }