typo W forgotten

auctus-team · Aug 22, 2023 · a1c8db2 · a1c8db2
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diff --git a/docs/source/README.rst b/docs/source/README.rst
@@ -122,7 +122,7 @@ For the robotic manipulators the package integrates velocity, force and accelera
 
 - Velocity (manipulability) ellipsoid  
 
-    .. math:: E_v = \{\dot{x}~ |~ J\dot{q} = \dot{x},~ L\dot{q} = \dot{l} \quad ||^{-1}\dot{l}|| \leq 1\}, \qquad W = diag(\dot{l}_{max})
+    .. math:: E_v = \{\dot{x}~ |~ J\dot{q} = \dot{x},~ L\dot{q} = \dot{l} \quad ||W^{-1}\dot{l}|| \leq 1\}, \qquad W = diag(\dot{l}_{max})
 - Acceleration (dynamic manipulability) ellipsoid  
 
     .. math:: E_{a} = \{\ddot{x}~ |~ \ddot{x} = JM^{-1}NF, \quad ||W^{-1}F|| \leq 1\}, \qquad W = diag(F_{max})

diff --git a/paper/paper.md b/paper/paper.md
@@ -168,7 +168,7 @@ For the human musculoskeletal models this package implements the polytope and el
 
 - Velocity (manipulability) ellipsoid  
 \begin{equation}\label{eq:ev_h}
-E_v = \{\dot{x}~ |~ J\dot{q} = \dot{x},~ L\dot{q} = \dot{l} \quad ||^{-1}\dot{l}|| \leq 1\}, \qquad W = diag(\dot{l}_{max})
+E_v = \{\dot{x}~ |~ J\dot{q} = \dot{x},~ L\dot{q} = \dot{l} \quad ||W^{-1}\dot{l}|| \leq 1\}, \qquad W = diag(\dot{l}_{max})
 \end{equation}
 
 - Acceleration (dynamic manipulability) ellipsoid