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Fixed link for imu pdf in docs #110

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merged 1 commit into from
Jan 18, 2024
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Fixed link for imu pdf in docs #110

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5 changes: 2 additions & 3 deletions navlie/lib/imu.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
Note that the treatment of IMU kinematics in this module is different from
typical treatments in the sense that it is done directly on :math:`SE_2(3)`. A
PDF describing the detailed derivations can be found at the
`following link. <https://decargroup.github.io/navlie/_build/html/_static/imu.pdf>`_
:download:`following link. <../../../docs/source/_static/imu.pdf>`

"""

Expand Down Expand Up @@ -341,8 +341,7 @@ def N_matrix(phi_vec: np.ndarray):

def M_matrix(phi_vec):
"""
The M matrix from `derivation document
<https://decargroup.github.io/navlie/_build/html/_static/imu.pdf>`_
The M matrix from the :download:`derivation document <../../../docs/source/_static/imu.pdf>`.
"""
phi_mat = SO3.wedge(phi_vec)
M = np.sum(
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