start fixing.

SLAM/GraphBasedSLAM/graphSLAM_doc.ipynb

@@ -6,12 +6,10 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "import numpy as np\n",
     "import copy\n",
     "import math\n",
     "import itertools\n",
     "import numpy as np \n",
-    "import cvxpy as cp\n",
     "import matplotlib.pyplot as plt\n",
     "from graph_based_slam import calc_rotational_matrix, calc_jacobian, cal_observation_sigma, \\\n",
     "                             calc_input, observation, motion_model, Edge, pi_2_pi\n",
@@ -650,8 +648,17 @@
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
    "version": "3.6.5"
+  },
+  "pycharm": {
+   "stem_cell": {
+    "cell_type": "raw",
+    "source": [],
+    "metadata": {
+     "collapsed": false
+    }
+   }
   }
  },
  "nbformat": 4,
  "nbformat_minor": 2
-}
+}