<script>
MathJax.Hub.Queue(["Typeset",MathJax.Hub]);
</script>
$$
\newcommand{\d}{\mathrm{d}}
\newcommand{\bff}{\boldsymbol{f}}
\newcommand{\bfg}{\boldsymbol{g}}
\newcommand{\bfp}{\boldsymbol{p}}
\newcommand{\bfq}{\boldsymbol{q}}
\newcommand{\bfx}{\boldsymbol{x}}
\newcommand{\bfu}{\boldsymbol{u}}
\newcommand{\bfv}{\boldsymbol{v}}
\newcommand{\bfA}{\boldsymbol{A}}
\newcommand{\bfB}{\boldsymbol{B}}
\newcommand{\bfC}{\boldsymbol{C}}
\newcommand{\bfM}{\boldsymbol{M}}
\newcommand{\bfJ}{\boldsymbol{J}}
\newcommand{\bfR}{\boldsymbol{R}}
\newcommand{\bfT}{\boldsymbol{T}}
\newcommand{\bfomega}{\boldsymbol{\omega}}
\newcommand{\bftau}{\boldsymbol{\tau}}
$$