In MATLAB function called $$ vee $$defining the $$ vee $$operator both for elements of so $(2)$and for elements of so $(3).$For elements of so $(2)$ vee $$should return a $1\backslash$ times $1$array$.$ For elements of so $(3)$ vee $$should return a $3\backslash$ times $1$array$.[$ Elements of SO $($ N $)$map to elements of so $($ N $)$using the matrix natural log $($ logm $$in MATLAB $)].$