8 pages..

tex/chapters/grid.tex

@@ -257,9 +257,7 @@
 			\newcommand{\pathRef}{v_\text{ref}}
 			%
 			Before every transition, the centre-position $\pathCentroid = \fPos{\mStateVec_{t-1}^*}$ of the current sample-set, where 
-			\begin{equation}
-				\mStateVec_{t-1}^* = \underset{\mStateVec_{t-1}}{\argmax} \enspace p(\mStateVec_{t-1} | \mObsVec_{t-1}) 
-			\end{equation}
+			$\mStateVec_{t-1}^* = \argmax_{\mStateVec_{t-1}} \enspace p(\mStateVec_{t-1} \mid \mObsVec_{t-1})$
 			represents the most proper state of the posterior distribution at time $t-1$, is calculated.
 			%
 			%