| # | Line 1312 | Line 1312 | matrix, | |
|---|---|---|
| 1312 | Using \ref{introEqaution:RBMotionPI}, one can construct a skew | |
| 1313 | matrix, | |
| 1314 | ||
| 1315 | < | \begin{eqnarry*} |
| 1315 | > | \begin{eqnarray*} |
| 1316 | (\dot \Pi - \dot \Pi ^T ){\rm{ }} = {\rm{ }}(\Pi - \Pi ^T ){\rm{ | |
| 1317 | }}(J^{ - 1} \Pi + \Pi J^{ - 1} ) + \sum\limits_i {[Q^T F_i | |
| 1318 | (r,Q)X_i^T - X_i F_i (r,Q)^T Q]} - (\Lambda - \Lambda ^T ). | |
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