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Update one latex formula

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Thomas Dehaeze
2020-03-11 19:01:50 +01:00
parent b5d73ab978
commit f2115d6b62
2 changed files with 73 additions and 73 deletions
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org/control-tracking.org
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@@ -434,7 +434,7 @@ The signals are:
- reference path $\bm{r}_\mathcal{X} = \begin{bmatrix} \epsilon_x & \epsilon_y & \epsilon_z & \epsilon_{R_x} & \epsilon_{R_y} & \epsilon_{R_z} \end{bmatrix}$
- tracking error $\bm{\epsilon}_\mathcal{X} = \begin{bmatrix} \epsilon_x & \epsilon_y & \epsilon_z & \epsilon_{R_x} & \epsilon_{R_y} & \epsilon_{R_z} \end{bmatrix}$
- actuator forces $\bm{\tau} = \begin{bmatrix} \tau_1 & \tau_2 & \tau_3 & \tau_4 & \tau_5 & \tau_6 \end{bmatrix}$
- payload pose $\bm{\mathcal{X}) = \begin{bmatrix} x & y & z & R_x & R_y & R_z \end{bmatrix}$
- payload pose $\bm{\mathcal{X}} = \begin{bmatrix} x & y & z & R_x & R_y & R_z \end{bmatrix}$
#+begin_src latex :file centralized_reference_tracking.pdf
\begin{tikzpicture}