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LaTeX Math Block
anchorqOW
alignmentleft
q_W = a \, \cdot q_O + b

where

LaTeX Math Block
anchora
alignmentleft
a = J^{-1}_O \cdot ( J_{1W} + J_{2W})

...

LaTeX Math Block
anchor<qOW>
alignmentleft
<q_W> = a \cdot, <q_O> + b


where

LaTeX Math Inline
body<q_W>, \ <q_O>

are weighted average of

LaTeX Math Inline
bodyq_W
 and
LaTeX Math Inline
bodyq_O

...