一、前言

        小白在论文返修过程中，需要标注出部分公式的修正，因此用到这个代码指令。

二、技术实现

        指令代码如下：

\mathcolorbox{yellow}{ TEXT }

三、实例

\begin{figure*}
\begin{equation}
\centering
\begin{aligned}
 \begin{bmatrix}
   {\left({v}_{\text{b}}\right)_{x}}  \\
   {\left({v}_{\text{b}}\right)_{z}}  \\
   {\left({\omega }_{\text{b}}\right)_{z}}  \\
   {\left({\omega }_{\text{b}}\right)_{x}}  \\
\end{bmatrix} \!&=\! 
\addtocounter{MaxMatrixCols}{20}
\begin{bmatrix}
{{a}_{11}} & {{a}_{12}} & {{a}_{13}} & {{a}_{14}} & {{a}_{15}} & {{a}_{16}} & {{a}_{17}} & {{a}_{18}} & {{a}_{19}} & {{a}_{110}} & {{a}_{111}} & {{a}_{112}} & {{a}_{113}} & {{a}_{114}} \\
0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & {{a}_{213}} & {{a}_{214}} \\
{{a}_{21}} & {{a}_{22}} & {{a}_{23}} & {{a}_{24}} & {{a}_{25}} & {{a}_{26}} & {{a}_{27}} & {{a}_{28}} & {{a}_{29}} & {{a}_{210}} & {{a}_{211}} & {{a}_{212}} & {{a}_{313}} & {{a}_{314}} \\
0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & 0 & {{a}_{413}} & {{a}_{414}}
\end{bmatrix} \\  & \quad \; \cdot \setlength{\arraycolsep}{3.5pt}\mathcolorbox{yellow}{\begin{bmatrix}
   {{\omega}_{a1}} & {{\omega}_{a2}} & {{\omega}_{a3}}  &
   {{\omega}_{a4}} & {{\omega}_{a5}} & {{\omega}_{a6}}  &
   {{\omega}_{p1}} & {{\omega}_{p2}} & {{\omega}_{p3}}  &
   {{\omega}_{p4}} & {{\omega}_{p5}} & {{\omega}_{p6}}  &
   {{\omega}_{s12}} & {{\omega}_{s22}}
\end{bmatrix}^{T}}.
\end{aligned}
\label{equ: Full Ackermann asymmetric steering kinematics model}
\end{equation}
\end{figure*}