### Errata for 2nd edition

• Chapter 1
• p. 7, Section 1.2.2, 2nd paragraph, 4th line
```1985
should be
1895
(thanks to Brian Wyvill)
```
• Chapter 2
• p. 69, Eq 2.33
```there is a p in it which should be a q
(thanks to Brian Wyvill)
```
• Chapter 3
• p. 111, eq. 3.29
```(1-u*theta)
should be
(1-u)*theta
```
• p. 111
```As an aside, slerp expressed in terms of quaternion algebra
Slerp(q0,q1,t) = q0(q0^(-1)q1)^t
where q^t = cos(ta) + vsin(ta)
```
• p. 113, 2nd full paragraph
```adapting control point construction for Bezier interpolation
of quaternions needs more explanation. In order to do the
quaternion-equivalent of the first step of Figure 3.25, use
the following:
double(p,q) = 2*(p.q)q - p
to produce a quaternion as far away from q as q is from p.
```
• p.113, two places
```De Casteljau
should be
de Casteljau
```
• Chapter 4
• p. 173, Figure 4.44
```it looks like my description of grid-based morphing constructs the
auxilliary grid the wrong way. It should use the y-coordinates of
the source grid and the x-coordinates of the intermediate grid.
```
• Chapter 5
• p. 202, Figure 5.15
```the first equation in the figure is
acos(..) = ...
should be
cos(..) = ...
the last equation in the figure in numerator on the right  contains
-X^2+Y^2
should be
-(X^2+Y^2)
```
• p. 211, Figure 5.21
```The x-axis is labeled 210, 220, 230
it should be labeled -10, -20, -30
```
• p. 213, Figure 5.23
```The figure's text reads in part:
"Inverse of the Jacobian solution formulated to pull the target
toward the goal..."
"Inverse of the Jacobian solution formulated to pull the goal
toward the end effector..."
```
• Chapter 7
• p. 236, Eq 7.11
```For consistent notation, omega in Eq 7.11 should be alpha
```
• p. 255, Eq. 7.34 & 7.35
``` tau-sub-t should be tau-sub-i
(thanks B.W.)
```
• p. 267, second line
```the inequality should be
0<=k<=1
```
• p. 268, Eq 7.59
```second term in brackets should be
p-dot-sub-B
```
• p. 268, Eq 7.60
```in the first line, the second '=' should be a '+'
in the second line, the 'w' should be an omega
```
• p. 268, Eq. 7.59 and Eq. 7.63
```the multiplication by n should be taken noted as a dot product
p. 269, Figure 7.24
- the second line should be
Computer Vrealtive = dot(N,(VA-VB)   ; Eq. 7.63
- the first 3 equations cited (which includes the line above) should be
Eq. 7.60, Eq. 7.63, and Eq. 7.65
- the first else statement should be
else if Vrelative >= -threshold

p. 276, Eq 7.85
the lower left term in the 3x3 matrix should be -ry

```
• Chapter 11
• p. 406, Figure 11.6
```There is an extra left parenthesis in the 5th line of the equations
```
• Appendix B
• p.511, B.57
```Rot[0,x,y,z]
should be
Rot[theta,x,y,z]
(thanks to  Brian Wyvill)
```
• p. 512, B.59, lower left element of matrix
```2xy-2sy
should be
"2xz-2sy"
```
• p. 553, Eq. B.141
```  there should be a negative sign on Iyz in the third row of the matrix
in the first integral (Ixx), y and z should be squared
```
• p. 554, Eq. B.146
```  the MXYZ terms should be MYZ
```
• p. 560
```  "Verlat"
should be
"Verlet"
```