From 5f4b62d87a0e9bed2d0279b32841d4bbe323fdf3 Mon Sep 17 00:00:00 2001 From: Hrushikesh Budhale Date: Sat, 12 Mar 2022 04:38:25 -0500 Subject: [PATCH] Fix missing 'delta t' in EKF documentation (#647) Reference issue typo What does this implement/fix? Update motion function in localization/EKF documentation. Add missing delta t. --- .../extended_kalman_filter_localization.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization.rst b/docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization.rst index d2cd52cf..a9c29396 100644 --- a/docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization.rst +++ b/docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization.rst @@ -89,7 +89,7 @@ This is implemented at The motion function is that -:math:`\begin{equation*} \begin{bmatrix} x' \\ y' \\ w' \\ v' \end{bmatrix} = f(\textbf{x}, \textbf{u}) = \begin{bmatrix} x + v\cos(\phi)\Delta t \\ y + v\sin(\phi) \\ \phi + \omega \Delta t \\ v \end{bmatrix} \end{equation*}` +:math:`\begin{equation*} \begin{bmatrix} x' \\ y' \\ w' \\ v' \end{bmatrix} = f(\textbf{x}, \textbf{u}) = \begin{bmatrix} x + v\cos(\phi)\Delta t \\ y + v\sin(\phi)\Delta t \\ \phi + \omega \Delta t \\ v \end{bmatrix} \end{equation*}` Its Jacobian matrix is