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Line 25: | Line 25: | ||
See the figure to the right. | See the figure to the right. | ||
With some algebra, this constraint can be written as either: | With some algebra, this constraint can be written as either: | ||
<math> | <math> | ||
\begin{bmatrix} | \begin{bmatrix} | ||
Line 40: | Line 40: | ||
\end{bmatrix} | \end{bmatrix} | ||
</math> | </math> | ||
Or: | |||
<math> | <math> | ||
\begin{bmatrix} | \begin{bmatrix} |