Has anyone read this article, i.e., CHOMP: Gradient Optimization Techniques for Efficient Motion Planning article?
I'm confused about the derivation of equations 2-3, which is shown in the figure below.
A detailed procedure is expected. Besides, which chapter of Convex Optimization (S. Boyd and L. Vandenberghe) does this derivation belong to？
From which chapter of the book can I learn the derivation process?
Pic:
