render riccati equation properly in CARE doc (RobotLocomotion#12761)

* render riccati equation properly in CARE doc
YinjieLin · Feb 23, 2020 · 90f3115 · 90f3115
1 parent 19b32f5
commit 90f3115
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diff --git a/math/continuous_algebraic_riccati_equation.h b/math/continuous_algebraic_riccati_equation.h
@@ -8,9 +8,9 @@ namespace math {
 /// Computes the unique stabilizing solution S to the continuous-time algebraic
 /// Riccati equation:
 ///
-/// @verbatim
-///  S A + A' S - S B inv(R) B' S + Q = 0
-/// @endverbatim
+/// @f[
+/// S A + A' S - S B R^{-1} B' S + Q = 0
+/// @f]
 ///
 /// @throws std::runtime_error if R is not positive definite.
 ///

diff --git a/math/discrete_algebraic_riccati_equation.h b/math/discrete_algebraic_riccati_equation.h
@@ -11,9 +11,9 @@ namespace math {
 /// Computes the unique stabilizing solution X to the discrete-time algebraic
 /// Riccati equation:
 ///
-/// \f[
+/// @f[
 /// A'XA - X - A'XB(B'XB+R)^{-1}B'XA + Q = 0
-/// \f]
+/// @f]
 ///
 /// @throws std::runtime_error if Q is not positive semi-definite.
 /// @throws std::runtime_error if R is not positive definite.