From 6b8a6d2615cddce9db9431a1688a337e4d7aabc8 Mon Sep 17 00:00:00 2001
From: Charles Cossette <charles.cossette@mail.mcgill.ca>
Date: Wed, 17 Jan 2024 21:26:24 -0800
Subject: [PATCH] Fixed link for imu pdf in docs

---
 navlie/lib/imu.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/navlie/lib/imu.py b/navlie/lib/imu.py
index 8c935262..c780d4de 100644
--- a/navlie/lib/imu.py
+++ b/navlie/lib/imu.py
@@ -4,7 +4,7 @@
 Note that the treatment of IMU kinematics in this module is different from
 typical treatments in the sense that it is done directly on :math:`SE_2(3)`. A
 PDF describing the detailed derivations can be found at the
-`following link. <https://decargroup.github.io/navlie/_build/html/_static/imu.pdf>`_
+:download:`following link. <../../../docs/source/_static/imu.pdf>`
 
 """
 
@@ -341,8 +341,7 @@ def N_matrix(phi_vec: np.ndarray):
 
 def M_matrix(phi_vec):
     """
-    The M matrix from `derivation document
-    <https://decargroup.github.io/navlie/_build/html/_static/imu.pdf>`_
+    The M matrix from the :download:`derivation document <../../../docs/source/_static/imu.pdf>`.
     """
     phi_mat = SO3.wedge(phi_vec) 
     M = np.sum(