Removes stereographic projection derivation; fix Doxygen nits (RobotL…

…ocomotion#12834) The derivation now exists in underactuated. Also and fixes punctuation on MathematicalProgram doxygen.
YinjieLin · Mar 9, 2020 · 2036423 · 2036423
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commit 2036423
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diff --git a/doc/derivations/stereographic.pdf b/doc/derivations/stereographic.pdf
diff --git a/doc/derivations/stereographic.texp b/doc/derivations/stereographic.texp
diff --git a/solvers/mathematical_program_doxygen.h b/solvers/mathematical_program_doxygen.h
@@ -4,7 +4,7 @@
  * optimization problem in the following form
  * <pre>
  *   minₓ f(x)
- *   s.t x ∈ S
+ *   s.t x ∈ S.
  * </pre>
  * Depending on the formulation of the objective function f, and the structure
  * of the constraint set S, this optimization problem can be grouped into
@@ -30,18 +30,18 @@
  * When the mathematical problem is formulated as the following linear system
  * <pre>
  * find x
- * s.t Ax = b
+ * s.t Ax = b,
  * </pre>
- * , then @ref drake::solvers::LinearSystemSolver "LinearSystemSolver" provides
+ * then @ref drake::solvers::LinearSystemSolver "LinearSystemSolver" provides
  * efficient closed form solution.
  *
  * When the mathematical problem is formulated as the following (convex)
  * quadratic program with only linear equality constraint
  * <pre>
  * min 0.5 xᵀHx + aᵀx + b
- * s.t Ax = b
+ * s.t Ax = b,
  * </pre>
- * , then @ref drake::solvers::EqualityConstrainedQPSolver
+ * then @ref drake::solvers::EqualityConstrainedQPSolver
  * "EqualityConstraintQPSolver" provides efficient closed form solution.
  *
  * <b>Convex Optimization</b>