explain below code to me "def VecToso3(omg):
    """Converts a 3-vector to an so(3) representation

    :param omg: A 3-vector
    :return: The skew symmetric representation of omg

    Example Input:
        omg = np.array([1, 2, 3])
    Output:
        np.array([[ 0, -3,  2],
                  [ 3,  0, -1],
                  [-2,  1,  0]])
    """
    return np.array([[0,      -omg[2],  omg[1]],
                     [omg[2],       0, -omg[0]],
                     [-omg[1], omg[0],       0]])" Your response should contain less than 200 words.
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