From 930e29830d7580211c0d5f8b130f4740364672a7 Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Sat, 17 Nov 2018 09:46:03 +0900 Subject: [PATCH] test doc --- .../Model_predictive_speed_and_steering_control.ipynb | 4 ++-- .../Model_predictive_speed_and_steering_control.rst | 11 +---------- 2 files changed, 3 insertions(+), 12 deletions(-) diff --git a/PathTracking/model_predictive_speed_and_steer_control/Model_predictive_speed_and_steering_control.ipynb b/PathTracking/model_predictive_speed_and_steer_control/Model_predictive_speed_and_steering_control.ipynb index 6024621c..317318b3 100644 --- a/PathTracking/model_predictive_speed_and_steer_control/Model_predictive_speed_and_steering_control.ipynb +++ b/PathTracking/model_predictive_speed_and_steer_control/Model_predictive_speed_and_steering_control.ipynb @@ -212,7 +212,7 @@ "\n", "where,\n", "\n", - "\\begin{equation*}\n", + "$\\begin{equation*}\n", "A = (I + dtA')\\\\\n", "=\n", "\\begin{bmatrix} \n", @@ -221,7 +221,7 @@ "0 & 0 & 1 & 0 \\\\\n", "0 & 0 &\\frac{tan(\\bar{\\delta})}{L}dt & 1 \\\\\n", "\\end{bmatrix}\n", - "\\end{equation*}" + "\\end{equation*}$" ] }, { diff --git a/docs/modules/Model_predictive_speed_and_steering_control.rst b/docs/modules/Model_predictive_speed_and_steering_control.rst index fc2725a1..fa5df4a9 100644 --- a/docs/modules/Model_predictive_speed_and_steering_control.rst +++ b/docs/modules/Model_predictive_speed_and_steering_control.rst @@ -163,16 +163,7 @@ So, where, -:raw-latex:`\begin{equation*} -A = (I + dtA')\\ -= -\begin{bmatrix} -1 & 0 & cos(\bar{\phi})dt & -\bar{v}sin(\bar{\phi})dt\\ -0 & 1 & sin(\bar{\phi})dt & \bar{v}cos(\bar{\phi})dt \\ -0 & 0 & 1 & 0 \\ -0 & 0 &\frac{tan(\bar{\delta})}{L}dt & 1 \\ -\end{bmatrix} -\end{equation*}` +:math:`\begin{equation*} A = (I + dtA')\\ = \begin{bmatrix} 1 & 0 & cos(\bar{\phi})dt & -\bar{v}sin(\bar{\phi})dt\\ 0 & 1 & sin(\bar{\phi})dt & \bar{v}cos(\bar{\phi})dt \\ 0 & 0 & 1 & 0 \\ 0 & 0 &\frac{tan(\bar{\delta})}{L}dt & 1 \\ \end{bmatrix} \end{equation*}` :raw-latex:`\begin{equation*} B = dtB'\\