github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-04-22 03:00:22 -04:00
Code Issues Packages Projects Releases Wiki Activity

Fix missing 'delta t' in EKF documentation (#647)

Browse Source 
Reference issue
typo

What does this implement/fix?
Update motion function in localization/EKF documentation. Add missing delta t.
This commit is contained in:
Hrushikesh Budhale
2022-03-12 04:38:25 -05:00
committed by GitHub
parent b1885a0564
commit 5f4b62d87a
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization.rst
View File

@@ -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