Documentation fix: add missing exponent

JeffLIrion · Mar 4, 2020 · 4ff07d4 · 4ff07d4
1 parent 860c157
commit 4ff07d4
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/graphslam/graph.py b/graphslam/graph.py
@@ -38,7 +38,7 @@
 
 .. math::
 
-   \chi_{k+1} = \sum_{e_j \in \mathcal{E}} \underbrace{\left[ \mathbf{e}_j(\mathbf{x}^{k+1}) \right]^T}_{1 \times \bullet} \underbrace{\Omega_j}_{\bullet \times \bullet} \underbrace{\mathbf{e}_j(\mathbf{x}^{k+1})}_{\bullet \times 1}.
+   \chi_{k+1}^2 = \sum_{e_j \in \mathcal{E}} \underbrace{\left[ \mathbf{e}_j(\mathbf{x}^{k+1}) \right]^T}_{1 \times \bullet} \underbrace{\Omega_j}_{\bullet \times \bullet} \underbrace{\mathbf{e}_j(\mathbf{x}^{k+1})}_{\bullet \times 1}.
 
 We will linearize the errors as: