def vee_map(skew):
    """Return the vee map of a vector

    """

    vec = 1/2 * np.array([skew[2,1] - skew[1,2],
                          skew[0,2] - skew[2,0],
                          skew[1,0] - skew[0,1]])

    return vec
Return the vee map of a vector