Equations for the differential base

Am i seeing a typo or your equations for the base are a bit off (https://docs.nvidia.com/isaac/isaac/packages/navigation/doc/algorithm.html) ?

They are correct but v_{’} should be swapped with \theta_{’’} for angular and linear accelaration? Even units do not agree.

Hi agking53,

Thank you for pointing this out. We will fix the documentation.