function vcross = crmp( v ) % crmp planar cross-product operator (motion). % crmp(v) calculates the 3x3 matrix such that the expression crmp(v)*m is % the cross product of the planar motion vectors v and m. vcross = [ 0 0 0 ; v(3) 0 -v(1) ; -v(2) v(1) 0 ];