From 31b6bc3c27fa2172359a0822ec3d2293011d3fb6 Mon Sep 17 00:00:00 2001
From: tjdwill <118497355+tjdwill@users.noreply.github.com>
Date: Wed, 27 Mar 2024 17:55:10 -0500
Subject: [PATCH] Update intro.rst

- Fixed code example bugs (~ Ln. 214 and ~Ln. 614)
  - ``T`` was not defined;
  - ``quat.qqmul`` -> ``qqmul``
- Clarified sentence at Ln. 156.
---
 docs/source/intro.rst | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/docs/source/intro.rst b/docs/source/intro.rst
index 6e778a90..8f3d1297 100644
--- a/docs/source/intro.rst
+++ b/docs/source/intro.rst
@@ -153,8 +153,8 @@ The implementation of composition depends on the class:
 * for unit-quaternions composition is the Hamilton product of the underlying vector value,
 * for twists it is the logarithm of the product of exponentiating the two twists
 
-The ``**`` operator denotes repeated composition, so the exponent must be an integer.  If the negative exponent the repeated multiplication
-is performed then the inverse is taken.
+The ``**`` operator denotes repeated composition, so the exponent must be an integer.  If the exponent is negative, repeated multiplication
+is performed and then the inverse is taken.
 
 The group inverse is given by the ``inv()`` method:
 
@@ -214,6 +214,8 @@ or, in the case of a scalar, broadcast to each element:
 .. runblock:: pycon
 
     >>> from spatialmath import *
+    >>> T = SE3()
+    >>> T
     >>> T - 1
     >>> 2 * T
 
@@ -609,7 +611,7 @@ column vectors.
 .. runblock:: pycon
 
     >>> from spatialmath.base import *
-    >>> q = quat.qqmul([1,2,3,4], [5,6,7,8])
+    >>> q = qqmul([1,2,3,4], [5,6,7,8])
     >>> q
     >>> qprint(q)
     >>> qnorm(q)