test doc

Author: AtsushiSakai

PathTracking/model_predictive_speed_and_steer_control/Model_predictive_speed_and_steering_control.ipynb

@@ -212,7 +212,7 @@
     "\n",
     "where,\n",
     "\n",
-    "\\begin{equation*}\n",
+    "$\\begin{equation*}\n",
     "A = (I + dtA')\\\\\n",
     "=\n",
     "\\begin{bmatrix} \n",
@@ -221,7 +221,7 @@
     "0 & 0 & 1 & 0 \\\\\n",
     "0 & 0 &\\frac{tan(\\bar{\\delta})}{L}dt & 1 \\\\\n",
     "\\end{bmatrix}\n",
-    "\\end{equation*}"
+    "\\end{equation*}$"
    ]
   },
   {

docs/modules/Model_predictive_speed_and_steering_control.rst

@@ -163,16 +163,7 @@ So,
 
 where,
 
-:raw-latex:`\begin{equation*}
-A = (I + dtA')\\
-=
-\begin{bmatrix} 
-1 & 0 & cos(\bar{\phi})dt & -\bar{v}sin(\bar{\phi})dt\\
-0 & 1 & sin(\bar{\phi})dt & \bar{v}cos(\bar{\phi})dt \\
-0 & 0 & 1 & 0 \\
-0 & 0 &\frac{tan(\bar{\delta})}{L}dt & 1 \\
-\end{bmatrix}
-\end{equation*}`
+:math:`\begin{equation*} A = (I + dtA')\\ = \begin{bmatrix} 1 & 0 & cos(\bar{\phi})dt & -\bar{v}sin(\bar{\phi})dt\\ 0 & 1 & sin(\bar{\phi})dt & \bar{v}cos(\bar{\phi})dt \\ 0 & 0 & 1 & 0 \\ 0 & 0 &\frac{tan(\bar{\delta})}{L}dt & 1 \\ \end{bmatrix} \end{equation*}`
 
 :raw-latex:`\begin{equation*}
 B = dtB'\\