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fix duplicated math lables (#633)

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Atsushi Sakai
2022-01-23 20:07:34 +09:00
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parent c066a9420e
commit 550baa1e49
2 changed files with 20 additions and 20 deletions
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docs/modules/control/move_to_a_pose_control/move_to_a_pose_control.rst
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@@ -68,7 +68,7 @@ The distance :math:`\rho` is used to determine the robot speed. The idea is to s
.. math::
v = K_P{_\rho} \times \rho\qquad
:label: eq1
:label: move_to_a_pose_eq1
Note that for your applications, you need to tune the speed gain, :math:`K_P{_\rho}` to a proper value.
@@ -92,9 +92,9 @@ The final angular speed command is given by
.. math::
\omega = K_P{_\alpha} \alpha - K_P{_\beta} \beta\qquad
:label: eq2
:label: move_to_a_pose_eq2
The linear and angular speeds (Equations :eq:`eq1` and :eq:`eq2`) are the output of the algorithm.
The linear and angular speeds (Equations :eq:`move_to_a_pose_eq1` and :eq:`move_to_a_pose_eq2`) are the output of the algorithm.
Move to a Pose Robot (Class)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~