From 90598716fb89ffc4d4dabd6a6c30a4bd9a9e05b0 Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Wed, 12 Dec 2018 22:34:18 +0900
Subject: [PATCH] update docs

---
 .../extended_kalman_filter_localization.ipynb                 | 2 +-
 docs/modules/extended_kalman_filter_localization.rst          | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb b/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb
index b4061b39..220a5043 100644
--- a/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb
+++ b/Localization/extended_kalman_filter/extended_kalman_filter_localization.ipynb
@@ -124,8 +124,8 @@
     "$\\begin{equation*}\n",
     "B=\n",
     "\\begin{bmatrix}\n",
-    "sin(\\phi)dt & 0\\\\\n",
     "cos(\\phi)dt & 0\\\\\n",
+    "sin(\\phi)dt & 0\\\\\n",
     "0 & dt\\\\\n",
     "1 & 0\\\\\n",
     "\\end{bmatrix}\n",
diff --git a/docs/modules/extended_kalman_filter_localization.rst b/docs/modules/extended_kalman_filter_localization.rst
index a889eef7..96f29a6b 100644
--- a/docs/modules/extended_kalman_filter_localization.rst
+++ b/docs/modules/extended_kalman_filter_localization.rst
@@ -91,7 +91,7 @@ where
 
 :math:`\begin{equation*} F= \begin{bmatrix} 1 & 0 & 0 & 0\\ 0 & 1 & 0 & 0\\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 0 \\ \end{bmatrix} \end{equation*}`
 
-:math:`\begin{equation*} B= \begin{bmatrix} sin(\phi)dt & 0\\ cos(\phi)dt & 0\\ 0 & dt\\ 1 & 0\\ \end{bmatrix} \end{equation*}`
+:math:`\begin{equation*} B= \begin{bmatrix} cos(\phi)dt & 0\\ sin(\phi)dt & 0\\ 0 & dt\\ 1 & 0\\ \end{bmatrix} \end{equation*}`
 
 :math:`dt` is a time interval.
 
@@ -102,7 +102,7 @@ Its Jacobian matrix is
 
 :math:`\begin{equation*} J_F= \begin{bmatrix} \frac{dx}{dx}& \frac{dx}{dy} & \frac{dx}{d\phi} & \frac{dx}{dv}\\ \frac{dy}{dx}& \frac{dy}{dy} & \frac{dy}{d\phi} & \frac{dy}{dv}\\ \frac{d\phi}{dx}& \frac{d\phi}{dy} & \frac{d\phi}{d\phi} & \frac{d\phi}{dv}\\ \frac{dv}{dx}& \frac{dv}{dy} & \frac{dv}{d\phi} & \frac{dv}{dv}\\ \end{bmatrix} \end{equation*}`
 
-:math:`\begin{equation*} 　= \begin{bmatrix} 1& 0 & -v sin(\phi)dt & cos(\phi)dt\\ 0 & 1 & v cos(\phi)dt & sin(\phi) dt\\ 0 & 0 & 1 & 0\\ 0 & 0 & 0 & 1\\ \end{bmatrix} \end{equation*}`
+:math:`\begin{equation*} 　= \begin{bmatrix} 1& 0 & -v cos(\phi)dt & sin(\phi)dt\\ 0 & 1 & v cos(\phi)dt & sin(\phi) dt\\ 0 & 0 & 1 & 0\\ 0 & 0 & 0 & 1\\ \end{bmatrix} \end{equation*}`
 
 Observation Model
 ~~~~~~~~~~~~~~~~~