:תԳƾ

ʽ:SLAM_AntiSymMatrix(a)

a:һ3Ԫصľ,3ԪɷԳƾ

˵:
1a3ԪΪa1,a2,a3 ִб󷵻µĽp
p = [0 , -a3 , a2; a3 , 0 , -a1 ; -a2 , a1 , 0]

:
a = [1,2,3];
p = SLAM_AntiSymMatrix(a)//سõ½
p =
[ 0.00000000000000   -3.00000000000000    2.00000000000000
  3.00000000000000    0.00000000000000   -1.00000000000000
 -2.00000000000000    1.00000000000000    0.00000000000000 ]