Fix some typos

examples/se2_localization.cpp

@@ -86,7 +86,7 @@
  *
  *  The motion and measurement models are
  *
- *    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+ *    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
  *    y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
  *
  *  The algorithm below comprises first a simulator to

examples/se2_localization.py

@@ -86,7 +86,7 @@
 
 The motion and measurement models are
 
-    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
     y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
 
 The algorithm below comprises first a simulator to

examples/se2_localization_ukfm.cpp

@@ -90,7 +90,7 @@
  *
  *  The motion and measurement models are
  *
- *    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+ *    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
  *    y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
  *
  *  The algorithm below comprises first a simulator to

examples/se3_localization.cpp

@@ -86,7 +86,7 @@
  *
  *  The motion and measurement models are
  *
- *    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+ *    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
  *    y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
  *
  *  The algorithm below comprises first a simulator to

examples/se3_localization.py

@@ -85,7 +85,7 @@
 
 The motion and measurement models are
 
-    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
     y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
 
 The algorithm below comprises first a simulator to

examples/se3_localization_iekf.cpp

@@ -86,7 +86,7 @@
  *
  *  The motion and measurement models are
  *
- *    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+ *    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
  *    y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
  *
  *  The algorithm below comprises first a simulator to

examples/se_2_3_localization.cpp

@@ -60,7 +60,7 @@
  *
  * The kinematic equations (1) can be written as,
  * p <-- p + v dt + 0.5 a dt^2
- * R <-- R Exp_SO3(omega_b)
+ * R <-- R Exp_SO3(omega_b dt)
  * v <-- v + a dt
  *
  * However, we would like to express the kinematics equations in the form,

examples/se_2_3_localization.py

@@ -61,7 +61,7 @@
 
 The kinematic equations (1) can be written as,
     p <-- p + v dt + 0.5 a dt^2
-    R <-- R Exp_SO3(omega_b)
+    R <-- R Exp_SO3(omega_b dt)
     v <-- v + a dt
 
 However, we would like to express the kinematics equations in the form,