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(VectorXd 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 ( VectorXd 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