parameters: (v)
return_statement: return sophus.So3.hat(omega).\
              row_join(upsilon).\
              col_join(sympy.Matrix.zeros(1, 4))
docstring: R^6 => R^4x4
docstring_summary: R^6 => R^4x4
docstring_tokens: R^6 = > R^4x4
function: def hat(v):
          """ R^6 => R^4x4  """
          """ returns 4x4-matrix representation ``Omega`` """
          upsilon = sophus.Vector3(v[0], v[1], v[2])
          omega = sophus.Vector3(v[3], v[4], v[5])
          return sophus.So3.hat(omega).\
              row_join(upsilon).\
              col_join(sympy.Matrix.zeros(1, 4))
function_tokens: def hat ( v ) : """ returns 4x4-matrix representation ``Omega`` """ upsilon = sophus . Vector3 ( v [ 0 ] , v [ 1 ] , v [ 2 ] ) omega = sophus . Vector3 ( v [ 3 ] , v [ 4 ] , v [ 5 ] ) return sophus . So3 . hat ( omega ) . row_join ( upsilon ) . col_join ( sympy . Matrix . zeros ( 1 , 4 ) )