diff --git a/doc/LieGroups.lyx b/doc/LieGroups.lyx index 0ceb6da09..4af039252 100644 --- a/doc/LieGroups.lyx +++ b/doc/LieGroups.lyx @@ -2046,7 +2046,7 @@ The adjoint is \begin_inset Formula \begin{eqnarray} \Ad T{\xihat} & = & T\xihat T^{-1}\nonumber \\ - & = & \left[\begin{array}{cc} + & = & =\left[\begin{array}{cc} R & t\\ 0 & 1 \end{array}\right]\left[\begin{array}{cc} @@ -2061,7 +2061,7 @@ R^{T} & -R^{T}t\\ 0 & 0 \end{array}\right]\nonumber \\ & = & \left[\begin{array}{cc} -\skew{\omega} & Rv-\omega R_{\pi/2}t\\ +\skew{\omega} & Rv-t^{\perp}\omega\\ 0 & 0 \end{array}\right]\label{eq:adjointSE2} \end{eqnarray} @@ -2075,7 +2075,7 @@ From this we can express the Adjoint map in terms of plane twist coordinates: v'\\ \omega' \end{array}\right]=\left[\begin{array}{cc} -R & -R_{\pi/2}t\\ +R & -t^{\perp}\\ 0 & 1 \end{array}\right]\left[\begin{array}{c} v\\