def getSkewSymMatFromVec3()

in differentiable_robot_model/se3_so3_util.py [0:0]

• 10 lines of code
• 3 McCabe index (conditional complexity)

def getSkewSymMatFromVec3(omega):
    omega = omega.reshape(3)
    omegahat = omega.new_zeros((3, 3))
    sign_multiplier = -1
    for i in range(3):
        for j in range(i + 1, 3):
            omegahat[i, j] = sign_multiplier * omega[3 - i - j]
            omegahat[j, i] = -sign_multiplier * omega[3 - i - j]
            sign_multiplier = -sign_multiplier
    return omegahat