From 36a0771c443dcbb91c64ae72caba05e19d3ba1d7 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Tue, 10 Apr 2018 19:06:12 +0200
Subject: [PATCH] [Doc] centering maths/se3.md
---
doc/maths/se3.md | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/doc/maths/se3.md b/doc/maths/se3.md
index 4e05f9bf5..bf2efe0f0 100644
--- a/doc/maths/se3.md
+++ b/doc/maths/se3.md
@@ -1,5 +1,7 @@
# CheatSheet: SE(3) operations
+<div class="center">
+
\f$
\newcommand{\BIN}{\begin{bmatrix}}
\newcommand{\BOUT}{\end{bmatrix}}
@@ -266,3 +268,5 @@ For each joint \f$i\f$ from leaf to root, do:
### Nota
It is more efficient to apply \f$X^{-1}\f$ than \f$X\f$. Similarly, it is more efficient to apply \f$X^{-*}\f$ than \f$X^*\f$. Therefore, it is better to store the transformations \f$^{\lambda(i)}m_i\f$ and \f$^0m_i\f$ than \f$^im_{\lambda(i)}\f$ and \f$^im_0\f$.
+
+</div>
--
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