36

My minimum working example:

\documentclass{report}

\usepackage{amsmath}

\begin{document}

\begin{center}
\boxed{K_{k+1}=P_ka_{k+1}^T(a_{k+1}P_ka_{k+1}^T+I_N)^{-1}}
\end{center}

\end{document}

The result:

enter image description here

Now how can I number this equation?

40

Just replace center environment with equation. I think it looks a little better with larger parentheses.

Edit: It might be easier to read as a fraction - except that it seems to be an equation about matrices ...

\documentclass{report}

\usepackage{amsmath}

\begin{document}

\begin{equation}
\boxed{K_{k+1}=P_ka_{k+1}^T\left(a_{k+1}P_ka_{k+1}^T+I_N\right)^{-1}}
\end{equation}

\begin{equation}
\boxed{K_{k+1}=\frac{P_ka_{k+1}^T}{a_{k+1}P_ka_{k+1}^T+I_N}}
\end{equation}

\end{document}

enter image description here

20

With tcolorbox help it's possible to include equation numbers in framed environments. It provides options ams equation, ams gather, ams align and corresponding starred versions. It's also possible to combine tcolorbox with empheq package.

\documentclass{report}

\usepackage{amsmath}
\usepackage[most]{tcolorbox}

\tcbset{colback=yellow!10!white, colframe=red!50!black, 
        highlight math style= {enhanced, %<-- needed for the ’remember’ options
            colframe=red,colback=red!10!white,boxsep=0pt}
        }

\begin{document}

\begin{equation}
\tcboxmath{K_{k+1}=P_ka_{k+1}^T(a_{k+1}P_ka_{k+1}^T+I_N)^{-1}}
\end{equation}

\begin{tcolorbox}[ams equation]
K_{k+1}=P_ka_{k+1}^T(a_{k+1}P_ka_{k+1}^T+I_N)^{-1}
\end{tcolorbox}

\begin{tcolorbox}[ams align]
\sum\limits_{n=1}^{\infty} \frac{1}{n} &= \infty.\\
\int x^2 ~\text{d}x &= \frac13 x^3 + c.
\end{tcolorbox}

\begin{tcolorbox}[ams gather]
\sum\limits_{n=1}^{\infty} \frac{1}{n} = \infty.\\
\int x^2 ~\text{d}x = \frac13 x^3 + c.
\end{tcolorbox}

\begin{align*}
\tcbhighmath[remember as=fx]{f(x)}
&= \int\limits_{1}^{x} \frac{1}{t^2}~dt
= \left[ -\frac{1}{t} \right]_{1}^{x}\\
&= -\frac{1}{x} + \frac{1}{1}\\
&=
\tcbhighmath[remember,overlay={%
\draw[blue,very thick,->] (fx.south) to[bend right] ([yshift=2mm]frame.west);}]
{1-\frac{1}{x}.}
\end{align*}

\end{document}

enter image description here

14

If you want a costumized box, you can use the empheq package:

\documentclass{article}

\usepackage{mathtools}
\usepackage[
  amsmath
]{empheq}
\usepackage{xcolor}

\definecolor{shadecolor}{cmyk}{0,0,0.45,0}
\definecolor{light-blue}{cmyk}{0.25,0,0,0}
\newsavebox{\mysaveboxM}
\newsavebox{\mysaveboxT}
\newcommand*\Garybox[2][A Nice Box]{%
  \sbox{\mysaveboxM}{#2}%
  \sbox{\mysaveboxT}{\fcolorbox{black}{light-blue}{#1}}%
  \sbox{\mysaveboxM}{%
    \parbox[b][\ht\mysaveboxM+0.5\ht\mysaveboxT+0.5\dp\mysaveboxT][b]{%
      \wd\mysaveboxM}{#2}%
  }%
  \sbox{\mysaveboxM}{%
    \fcolorbox{black}{shadecolor}{%
      \makebox[\linewidth-17.5em]{\usebox{\mysaveboxM}}%
    }%
  }%
  \usebox{\mysaveboxM}%
  \makebox[0pt][r]{%
    \makebox[\wd\mysaveboxM][c]{%
      \raisebox{\ht\mysaveboxM-0.5\ht\mysaveboxT
                +0.5\dp\mysaveboxT-0.5\fboxrule}{\usebox{\mysaveboxT}}%
    }%
  }%
}

\begin{document}

\begin{empheq}[box = {\Garybox[A Nice Box]}]{equation}
  K_{k+1}
  = P_{k}a_{k+1}^{T}\left(a_{k+1}P_{k}a_{k+1}^{T}+I_{N}\right)^{-1}
\end{empheq}

\end{document}

output

Note that my example is crudely stolen from pages 23--24 of the package manual.

0

The given answers are great and here is another solution using breqn:

Output

\documentclass{report}
\usepackage{breqn}

\begin{document}
    \begin{dmath}[frame]
        K_{k+1}=P_ka_{k+1}^T(a_{k+1}P_ka_{k+1}^T+I_N)^{-1}
    \end{dmath}
\end{document}

You can also adjust the border thickness and spacing using:

\begin{dmath}[frame={<amount>pt},framesep={<amount>pt}] ... \end{dmath}

1
  • 3
    Note that breqn is highly experimental and probably shouldn't be used in production code. Aug 14 '21 at 20:14

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