Elvis

Potential bug in /sharpy/aero/modals/aerogrid.py

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**Describe the bug** In lines 273, 280 and 313, according to the Aerodynamics input h5file: I think that the control surface info `['control_surface_hinge_coords']` should be `['control_surface_hinge_coord']`. Thank you.

Potential bug in /sharpy/structure/utils/modalutils.py

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**Describe the bug** Hi, there exists a small bug at line 289 in `/sharpy/structure/utils/modalutils.py`: `for mode in range(num_rigid_body, NumLambda - num_rigid_body):` should be `for mode in range(num_rigid_body, NumLambda )`. Thank...

Book4_Ch15.1 几何视角

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第15.1 几何视角小节中，公式（2）下方第一段中***A***乘**x**，应该是***A***乘**z**吧

Book4_Ch18.2_等式约束条件_梯度平行

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图4下方段落中第二行，语句：‘容易发现 $-\nabla f(\mathbf{x})$ 在 $h(\mathbf x)$方向，在 $f(\mathbf x)$ 减小方向存在投影分量’ 该语句不通顺，可以改为：容易发现 $-\nabla f(\mathbf{x})$也就是 $f(\mathbf x)$ 减小方向，在 $h(\mathbf x)$方向存在投影分量。

**Describe the bug** In line 93, `Cga=algebra.quat2rotation(tsstruct0.quat).T` probably should be `Cga=algebra.quat2rotation(tsstruct0.quat)`, according to the definition of the rotation matrix. Thank you.