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testing math

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Andrew Tu
2019-04-24 18:50:48 -04:00
parent ca61cbbc30
commit 2ef4c241c1
1 changed files with 10 additions and 7 deletions
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17
SLAM/EKFSLAM/ekf_slam.ipynb
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@@ -63,16 +63,17 @@
"metadata": {},
"source": [
"\\begin{equation}\n",
"\\begin{array}{cc}\n",
"X = \\begin{bmatrix} x \\\\ y \\\\ \\theta \\\\ x_1 \\\\ y_1 \\\\ x_2 \\\\ y_2 \\\\ \\dots \\\\ x_n \\\\ y_n\\end{bmatrix}\\\n",
"& P = \\begin{bmatrix} \n",
"\\end{equation}\n",
"\n",
"\\begin{equation}\n",
"P = \\begin{bmatrix} \n",
"\\sigma_{xx} & \\sigma_{xy} & \\sigma_{x\\theta} & \\sigma_{xx_1} & \\sigma_{xy_1} & \\sigma_{xx_2} & \\sigma_{xy_2} & \\dots & \\sigma_{xx_n} & \\sigma_{xy_n} \\\\\n",
"\\sigma_{yx} & \\sigma_{yy} & \\sigma_{y\\theta} & \\sigma_{yx_1} & \\sigma_{yy_1} & \\sigma_{yx_2} & \\sigma_{yy_2} & \\dots & \\sigma_{yx_n} & \\sigma_{yy_n} \\\\\n",
" & & & & \\vdots & & & & & \\\\\n",
"\\sigma_{x_nx} & \\sigma_{x_ny} & \\sigma_{x_n\\theta} & \\sigma_{x_nx_1} & \\sigma_{x_ny_1} & \\sigma_{x_nx_2} & \\sigma_{x_ny_2} & \\dots & \\sigma_{x_nx_n} & \\sigma_{x_ny_n}\n",
"\\end{bmatrix}\n",
"\\end{array}\n",
"\\end{equaiton}"
"\\end{equation}"
]
},
{
@@ -91,13 +92,15 @@
"cell_type": "markdown",
"metadata": {},
"source": [
"\\begin{array}{cc}\n",
"\\begin{equation}\n",
"X = \\begin{bmatrix} x \\\\ m \\end{bmatrix}\n",
"&P = \\begin{bmatrix} \n",
"\\end{equation}\n",
"\\begin{equation}\n",
"P = \\begin{bmatrix} \n",
"\\Sigma_{xx} & \\Sigma_{xm}\\\\\n",
"\\Sigma_{mx} & \\Sigma_{mm}\\\\\n",
"\\end{bmatrix}\n",
"\\end{array}"
"\\end{equation}"
]
},
{