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Smtrx.m
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Smtrx.m
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function S = Smtrx(r)
% S = SMTRX(r) computes the 3x3 vector cross product matrix S=-S'
% such that rxt = S(r)t is true for all 3x1 vectors r and t
%
% Author: Thor I. Fossen
% Date: 14th June 2001
% Revisions:
% ________________________________________________________________
%
% MSS GNC is a Matlab toolbox for guidance, navigation and control.
% The toolbox is part of the Marine Systems Simulator (MSS).
%
% Copyright (C) 2008 Thor I. Fossen and Tristan Perez
%
% This program is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%
% This program is distributed in the hope that it will be useful, but
% WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with this program. If not, see <http://www.gnu.org/licenses/>.
%
% E-mail: contact@marinecontrol.org
% URL: <http://www.marinecontrol.org>
S = [ 0 -r(3) r(2)
r(3) 0 -r(1)
-r(2) r(1) 0 ];