untabify

GTSAM-Concepts.md

@@ -125,12 +125,14 @@ In addition, a Lie group has a Lie algebra, which affords two extra valid expres
 
 Note that in the Lie group case, the usual valid expressions for Retract and Local can be generated automatically, e.g.
 
+```
     T Retract(p,v,Hp,Hv) {
       T q = Exp(v,Hqv);
       T r = Compose(p,q,Hrp,Hrq);
       Hv = Hrq * Hqv; // chain rule
       return r;
     }
+```
 
 Lie Group Action
 ----------------