#fix 281 and doc clean up

Localization/Kalmanfilter_basics.ipynb

@@ -360,9 +360,7 @@
     "\n",
     "$$\\mu_\\mathtt{new} = \\frac{\\mu_1 \\sigma_2^2 + \\mu_2 \\sigma_1^2}{\\sigma_1^2+\\sigma_2^2}$$\n",
     "New variance is\n",
-    "$$\n",
-    "\\sigma_\\mathtt{new} = \\frac{\\sigma_1^2\\sigma_2^2}{\\sigma_1^2+\\sigma_2^2}\n",
-    "$$"
+    "$$\\sigma_\\mathtt{new} = \\frac{\\sigma_1^2\\sigma_2^2}{\\sigma_1^2+\\sigma_2^2}$$"
    ]
   },
   {
@@ -755,6 +753,15 @@
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
    "version": "3.6.6"
+  },
+  "pycharm": {
+   "stem_cell": {
+    "cell_type": "raw",
+    "source": [],
+    "metadata": {
+     "collapsed": false
+    }
+   }
   }
  },
  "nbformat": 4,

Localization/Kalmanfilter_basics_2.ipynb

@@ -35,7 +35,7 @@
     "\n",
     "If $x_{t}$ is complete, then:\n",
     "\n",
-    "$$p(z_{t} | x-_{0:t},z_{1:t-1},u_{1:t})=p(z_{t} | x_{t})$$\n",
+    "$$p(z_{t} | x_{0:t},z_{1:t-1},u_{1:t})=p(z_{t} | x_{t})$$\n",
     "\n",
     "$x_{t}$ is **complete** means that the past states, controls or measurements carry no additional information to predict future.\n",
     "\n",
@@ -365,8 +365,17 @@
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
    "version": "3.6.6"
+  },
+  "pycharm": {
+   "stem_cell": {
+    "cell_type": "raw",
+    "source": [],
+    "metadata": {
+     "collapsed": false
+    }
+   }
   }
  },
  "nbformat": 4,
  "nbformat_minor": 2
-}
+}