From 23ac25487d5a872030b82b38a28eb44b2cb3bda3 Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Wed, 28 Apr 2021 21:30:29 +0200
Subject: [PATCH] cleanup
---
doc/cartesian_interface.dox | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/doc/cartesian_interface.dox b/doc/cartesian_interface.dox
index f06e404..fe035ea 100644
--- a/doc/cartesian_interface.dox
+++ b/doc/cartesian_interface.dox
@@ -270,7 +270,13 @@ Briefly (a detailed description is given in the \ref iKinSlv "solver page"), the
that can be described in this way:
\f[
-\mathbf{q}=\arg\min_{\mathbf{q}\in \mathbb{R}^{n} }\left(\left\|\mathbf{\alpha}_d-\mathit{K_{\alpha}}\left(\mathbf{q}\right)\right\|^2+\mathit{w}\cdot\left(\mathbf{q}_r-\mathbf{q}\right)^{\top}\mathit{W}_r\left(\mathbf{q}_r-\mathbf{q}\right)\right) \quad s.t.\,\left\{\begin{array}{l}\left\|\mathbf{x}_d-\mathit{K_x}\left(\mathbf{q}\right)\right\|^2=0\\\mathbf{q}_L<\mathbf{q}<\mathbf{q}_U\end{array}\right.
+\begin{array}{c}
+ \mathbf{q}=\arg\min\limits_{\mathbf{q} \in \mathbb{R}^{n} }\left(\left\|\mathbf{\alpha}_d-\mathit{K_{\alpha}}\left(\mathbf{q}\right)\right\|^2+\mathit{w}\cdot\left(\mathbf{q}_r-\mathbf{q}\right)^{\top}\mathit{W}_r\left(\mathbf{q}_r-\mathbf{q}\right)\right) \\
+ \text{s.t.}
+ \begin{cases} \left\|\mathbf{x}_d-\mathit{K_x}\left(\mathbf{q}\right)\right\|^2=0 \\
+ \mathbf{q}_L<\mathbf{q}<\mathbf{q}_U
+ \end{cases}
+\end{array}.
\f]
The term \f$ \left(\mathbf{q}_r-\mathbf{q}\right)^{\top}\mathit{W}_r\left(\mathbf{q}_r-\mathbf{q}\right) \f$ represents