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# vex

Convert skew-symmetric matrix to vector

v = vex(s) is the vector (3x1) which has the skew-symmetric matrix s (3x3)

    | 0   -vz  vy|
    | vz   0  -vx|
    |-vy   vx  0 |

## Notes

- This is the inverse of the function SKEW().
- No checking is done to ensure that the matrix is actually skew-symmetric.
- The function takes the mean of the two elements that correspond to each unique element of the matrix, ie. vx = 0.5*(S(3,2)-S(2,3))

## See also

skew

© 1990-2014 Peter Corke.