Fix documentation formula

stephane-caron · Mar 29, 2024 · b2e46fb · b2e46fb
1 parent 9658594
commit b2e46fb
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/pink/tasks/relative_frame_task.py b/pink/tasks/relative_frame_task.py
@@ -186,7 +186,8 @@ def compute_jacobian(self, configuration: Configuration) -> np.ndarray:
 
         .. math::
 
-            J(q) = -\text{Jlog}_6(T_{tb}) {}_b J_{0b}(q)
+            J(q) = \text{Jlog}_6(T_{bt}) (\text{Ad}_{T_{tr}) {}_r J_{0r}(q) -
+            \text{Ad}_{T_{tb}} {}_b J_{0b}(q))
 
         The formula implemented here is more general than the one detailed in
         [FrameTaskJacobian]_. See also :func:`Task.compute_jacobian` for more