typo error in doc/math.pdf

[huanglilong]

typo error in 5.3

[dellaert]

You know, you seem to be right. I can't remember how I got the minus one there! But, checking the code, this is what is in Lie.h:

  Class inverse(ChartJacobian H) const {
    if (H) *H = - derived().AdjointMap();
    return derived().inverse();
  }

and this unit tests correctly, say in testRot3.cpp.
I'm puzzled.

[dellaert]

OK, wait, the last line is correct, it's the second to last line that's wrong. Got it :-) Thanks!

[dellaert]

Closed with #1064