From 1ad025ae7e67db778eb792c5caad6c4040b68d6b Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Sat, 17 Nov 2018 21:28:05 +0900 Subject: [PATCH] update doc --- .../extended_kalman_filter_localization.ipynb | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb b/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb index e1089eaf..09376a24 100644 --- a/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb +++ b/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb @@ -33,6 +33,9 @@ "\n", "x, y are a 2D x-y position, $\\theta$ is orientation, and v is velocity.\n", "\n", + "In the code, xEst means the state vector. [code](https://github.com/AtsushiSakai/PythonRobotics/blob/916b4382de090de29f54538b356cef1c811aacce/Localization/extended_kalman_filter/extended_kalman_filter.py#L168)\n", + "\n", + "　\n", "\n", "The robot has a speed sensor and a gyro sensor.\n", "\n", @@ -46,6 +49,8 @@ "\n", "The input and observation vector includes sensor noise.\n", "\n", + "In the code, observation function generates the input and observation vector [code](https://github.com/AtsushiSakai/PythonRobotics/blob/916b4382de090de29f54538b356cef1c811aacce/Localization/extended_kalman_filter/extended_kalman_filter.py#L34-L50)\n", + "\n", "\n", "\n", "\n",