From 2ef4c241c1c53d8dfeead4edc641d147a9ae3c51 Mon Sep 17 00:00:00 2001
From: Andrew Tu <drewtu2@yahoo.com>
Date: Wed, 24 Apr 2019 18:50:48 -0400
Subject: [PATCH] testing math

---
 SLAM/EKFSLAM/ekf_slam.ipynb | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/SLAM/EKFSLAM/ekf_slam.ipynb b/SLAM/EKFSLAM/ekf_slam.ipynb
index 5f2ad6da..ea841909 100644
--- a/SLAM/EKFSLAM/ekf_slam.ipynb
+++ b/SLAM/EKFSLAM/ekf_slam.ipynb
@@ -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}"
    ]
   },
   {