\documentclass[10pt,a4paper]{article}
\usepackage[utf8]{inputenc}
\usepackage{amsmath}
\usepackage{amssymb}
\begin{document}
\section{Inline preview demo}
Math mode: $\sum\limits^n_{i=1}\left(42*i^2\right)$
on a single line the preview will be updated automatically.

Matrix: $\left(\begin{matrix}1 & 2 & 3 & t_x \\ 4 & 5 & 5 & t_y \\ 7 & 8 & 9 & t_z \end{matrix} \cdot \begin{matrix} 1\\ 2\\ 3\\ 1\end{matrix}\right)$

\end{document}