Loose-GNSS-IMU/Loose-GNSS-IMU/MatrixUtils.cpp
// A function to build skew symmetric matrix
A function to build skew symmetric matrix
A function to build skew symmetric matrix
MatrixXd SkewMat(vector<double> Vec) {
	MatrixXd Skew = MatrixXd::Zero(3, 3);
	Skew(0, 1) = -Vec[2]; Skew(0, 2) = Vec[1];
	Skew(1, 0) = Vec[2]; Skew(1, 2) = -Vec[0];
	Skew(2, 0) = -Vec[1]; Skew(2, 1) = Vec[0];
	return Skew;
}
MatrixXd SkewMat ( vector < double > Vec ) { MatrixXd Skew = MatrixXd :: Zero ( 3 , 3 ) ; Skew ( 0 , 1 ) = - Vec [ 2 ] ; Skew ( 0 , 2 ) = Vec [ 1 ] ; Skew ( 1 , 0 ) = Vec [ 2 ] ; Skew ( 1 , 2 ) = - Vec [ 0 ] ; Skew ( 2 , 0 ) = - Vec [ 1 ] ; Skew ( 2 , 1 ) = Vec [ 0 ] ; return Skew ; }
A function to build skew symmetric matrix
A function to build skew symmetric matrix