我是第一次在这个网站上写作，所以如果我写得不对，请多多包涵。所以我试着在 Latex 中输入这个方程，
我使用 MathType 编写了它并获取了它的乳胶代码，这里，
\[\left[ \begin{matrix}
\cos \varphi & \sin \varphi \\
-\sin \varphi \ \ & \cos \varphi \ \\
\end{matrix} \right]\ \left[ \begin{align}
& x \\
& y \\
\end{align} \right]=\left[ \begin{align}
& 0 \\
& P \\
\end{align} \right]+\left[ \begin{matrix}
\cos {{\theta }_{1}} & \sin {{\theta }_{1}} \\
-\sin {{\theta }_{1}}\ \ & \cos {{\theta }_{1}}\ \\
\end{matrix} \right]\left( \left[ \begin{align}
& 0 \\
& M \\
\end{align} \right]+\left[ \begin{matrix}
\cos {{\theta }_{2}} & \sin {{\theta }_{2}} \\
-\sin {{\theta }_{2}}\ \ & \cos {{\theta }_{2}}\ \\
\end{matrix} \right]\left[ \begin{align}
& 0 \\
& D \\
\end{align} \right] \right)\]
然而，当我在 Overleaf 上输入它时，出现以下错误：
Package amsmath Error: Erroneous nesting of equation structures;
(amsmath) trying to recover with `aligned'.
See the amsmath package documentation for explanation.
Type H <return> for immediate help.
...
l.378 \end{align}
\right]=\left[ \begin{align}
Try typing <return> to proceed.
If that doesn't work, type X <return> to quit.
Package amsmath Error: Erroneous nesting of equation structures;
(amsmath) trying to recover with `aligned'.
See the amsmath package documentation for explanation.
Type H <return> for immediate help.
...
l.381 \end{align}
\right]+\left[ \begin{matrix}
Try typing <return> to proceed.
If that doesn't work, type X <return> to quit.
Package amsmath Error: Erroneous nesting of equation structures;
(amsmath) trying to recover with `aligned'.
See the amsmath package documentation for explanation.
Type H <return> for immediate help.
...
l.387 \end{align}
\right]+\left[ \begin{matrix}
Try typing <return> to proceed.
If that doesn't work, type X <return> to quit.
Package amsmath Error: Erroneous nesting of equation structures;
(amsmath) trying to recover with `aligned'.
See the amsmath package documentation for explanation.
Type H <return> for immediate help.
...
l.393 \end{align}
\right] \right)\]
Try typing <return> to proceed.
If that doesn't work, type X <return> to quit.
Thank you for your help in advance.
答案1
如果它输出错误的代码，我不确定使用 MathType 这样的工具是否方便。
经过一些练习，你就能直接输入代码了。这是一个可用的版本。
\documentclass{article}
\usepackage{amsmath}
\begin{document}
\[
\begin{bmatrix}
\cos \varphi & \sin \varphi \\
-\sin \varphi & \cos \varphi
\end{bmatrix}
\begin{bmatrix} x \\ y \end{bmatrix}
=
\begin{bmatrix} 0 \\ P \end{bmatrix}
+
\begin{bmatrix}
\cos \theta_{1} & \sin \theta_{1} \\
-\sin \theta_{1} & \cos \theta_{1}
\end{bmatrix}
\left(
\begin{bmatrix} 0 \\ M \end{bmatrix}
+
\begin{bmatrix}
\cos \theta_{2} & \sin \theta_{2} \\
-\sin \theta_{2} & \cos \theta_{2}
\end{bmatrix}
\begin{bmatrix} 0 \\ D \end{bmatrix}
\right)
\]
\end{document}
如您所见，没有“反斜杠空格”和无用的括号。对于括号分隔的矩阵，使用bmatrix。它完全等同于
\left[\begin{matrix}
... matrix rows ...
\end{matrix}\right]
但毫无疑问
\begin{bmatrix}
... matrix rows ...
\end{bmatrix}
代码更简单、更清晰。
为了解决过满问题，在这种情况下标准方法是使用multline*：
\documentclass{article}
\usepackage{amsmath}
\begin{document}
\begin{multline*}
\begin{bmatrix}
\cos \varphi & \sin \varphi \\
-\sin \varphi & \cos \varphi
\end{bmatrix}
\begin{bmatrix} x \\ y \end{bmatrix}
\\
=
\begin{bmatrix} 0 \\ P \end{bmatrix}
+
\begin{bmatrix}
\cos \theta_{1} & \sin \theta_{1} \\
-\sin \theta_{1} & \cos \theta_{1}
\end{bmatrix}
\left(
\begin{bmatrix} 0 \\ M \end{bmatrix}
+
\begin{bmatrix}
\cos \theta_{2} & \sin \theta_{2} \\
-\sin \theta_{2} & \cos \theta_{2} \\
\end{bmatrix}
\begin{bmatrix} 0 \\ D \end{bmatrix}
\right)
\end{multline*}
\end{document}
