diff --git a/include/core/math/SE2.h b/include/core/math/SE2.h
index a051a63e3989f4f0363fc96a8ed462fd1b407cea..ffd8ac8725e49ea921b32140042eb0936cf5d467 100644
--- a/include/core/math/SE2.h
+++ b/include/core/math/SE2.h
@@ -36,6 +36,12 @@ inline Eigen::Matrix<T, 2, 2> exp(const T theta)
 
 namespace SE2{
 
+template<class T>
+inline Eigen::Matrix<T, 2, 2> skew(const T& t)
+{
+        return (Eigen::Matrix<T, 2, 2>() << (T) 0, -t, t, (T) 0).finished();
+}
+
 /** \brief Compute  [1]_x * t = (-t.y ; t.x)
  */
 template<class D>