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i think there is no sign missing since '''J''' is the jacobian of '''f''' and '''f''' has a negativ sign in '''S'''. the goal is to minimize '''S''' and therefore we want to go in direction of negativ jacobian of
'''S''' which turns out to be the negative jacobian of '''-f''' and thus '''-(-J) = J'''. -- Georg
@ Vogt31337: I agree with you. -- D
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