diff --git a/SLAM/GraphBasedSLAM/graphSLAM_doc.ipynb b/SLAM/GraphBasedSLAM/graphSLAM_doc.ipynb
index 554ccd1a..53364e32 100644
--- a/SLAM/GraphBasedSLAM/graphSLAM_doc.ipynb
+++ b/SLAM/GraphBasedSLAM/graphSLAM_doc.ipynb
@@ -2,8 +2,12 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 1,
-   "metadata": {},
+   "execution_count": 11,
+   "metadata": {
+    "pycharm": {
+     "is_executing": false
+    }
+   },
    "outputs": [],
    "source": [
     "import copy\n",
@@ -38,15 +42,17 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
-   "metadata": {},
+   "execution_count": 12,
+   "metadata": {
+    "pycharm": {
+     "is_executing": false
+    }
+   },
    "outputs": [
     {
      "data": {
-      "image/png": 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\n",
-      "text/plain": [
-       "<Figure size 432x288 with 1 Axes>"
-      ]
+      "text/plain": "<Figure size 432x288 with 1 Axes>",
+      "image/png": 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\n"
      },
      "metadata": {
       "needs_background": "light"
@@ -55,23 +61,21 @@
     },
     {
      "name": "stdout",
-     "output_type": "stream",
      "text": [
       "The determinant of H:  0.0\n",
-      "The determinant of H after anchoring constraint:  18.75\n",
+      "The determinant of H after anchoring constraint:  18.750000000000007\n",
       "Running graphSLAM ...\n",
       "Odometry values after optimzation: \n",
-      " [[0.   ]\n",
-      " [0.947]\n",
-      " [1.939]]\n"
-     ]
+      " [[-0. ]\n",
+      " [ 0.9]\n",
+      " [ 1.9]]\n"
+     ],
+     "output_type": "stream"
     },
     {
      "data": {
-      "image/png": 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\n",
-      "text/plain": [
-       "<Figure size 432x288 with 1 Axes>"
-      ]
+      "text/plain": "<Figure size 432x288 with 1 Axes>",
+      "image/png": "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\n"
      },
      "metadata": {
       "needs_background": "light"
@@ -138,8 +142,8 @@
     "        H[t2,t1] -= omegas[(t1,t2)]\n",
     "        H[t1,t2] -= omegas[(t1,t2)]\n",
     "\n",
-    "        b[t1] += measure_constraints[(t1,t2)]\n",
-    "        b[t2] -= measure_constraints[(t1,t2)]\n",
+    "        b[t1] += omegas[(t1,t2)] * measure_constraints[(t1,t2)]\n",
+    "        b[t2] -= omegas[(t1,t2)] * measure_constraints[(t1,t2)]\n",
     "\n",
     "    return H, b\n",
     "\n",
@@ -206,15 +210,17 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
-   "metadata": {},
+   "execution_count": 13,
+   "metadata": {
+    "pycharm": {
+     "is_executing": false
+    }
+   },
    "outputs": [
     {
      "data": {
-      "image/png": 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\n",
-      "text/plain": [
-       "<Figure size 432x288 with 1 Axes>"
-      ]
+      "text/plain": "<Figure size 432x288 with 1 Axes>",
+      "image/png": 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M8vGqCXxs1njqGlqpOdjA/iMdq2t2LpcweVQx5cX5GmcvMkhs27aNT37yk+/Yl5+fz+9+97t+alF6Cvx+YGaMKilgVInWwxHpLXcfUDdE06ZNY+vWrX1e76l0x+uhrYgMGgUFBRw+fDjwr/h0dw4fPkxBQe9uGnWHLyKDxvjx46mtrWUwvu862woKChg/fnyvvqPAF5FBIxqNMmnSpP5uxqClLh0RkYBQ4IuIBES23mn7kJkdNLPtaY6bmf2TmdWY2R/MLPVi7yIikjPZusN/GJjfxfEPAZXJn8XAD7JUr4iI9FBWAt/dNwBvdlFkAfBj7/AScJqZadlHEZE+1Fd9+OOAfSds1yb3vYuZLTazajOr1tArEZHsGXAPbd39QXevcveq8vLy/m6OiMiQ0VeB/xow4YTt8cl9IiLSR/oq8J8E/iI5Wud9wFF3z85beUVEpEeyMtPWzFYAc4CRZlYL/D0QBXD3fwZWA9cANUATcGs26hURkZ7LSuC7+43dHHfgs9moS0RETs2Ae2grIiK5ocAXEQkIBb6ISEAo8EVEAkKBLyISEAp8EZGAUOCLiASEAl9EJCAU+CIiAaHAFxEJCAW+iEhAKPBFRAJCgS8iEhAKfBGRgFDgi4gEhAJfRCQgFPgiIgGRlcA3s/lmttvMasxsaYrjt5hZnZltTf78ZTbqFRGRnsv4FYdmFga+D1wJ1AKbzOxJd995UtF/d/clmdYnIiKnJht3+LOBGnd/xd3bgMeBBVk4r4iIZFE2An8csO+E7drkvpPdYGZ/MLOVZjYh3cnMbLGZVZtZdV1dXRaaJyIi0HcPbZ8CJrr7BcBa4JF0Bd39QXevcveq8vLyPmqeiMjQl43Afw048Y59fHLfce5+2N1bk5s/AmZloV4REemFbAT+JqDSzCaZWR6wCHjyxAJmNuaEzeuAXVmoV0REeiHjUTruHjezJcAzQBh4yN13mNnXgWp3fxL4GzO7DogDbwK3ZFqviIj0jrl7f7chraqqKq+uru7vZoiIDBpmttndq1Id00xbEZGAUOCLiASEAl9EJCAU+CIiAaHAFxEJCAW+iEhAKPBFRAIi44lXA4W7U3eslZqDDew/2kKsPUE0HGJsWQGTRxVTXpKPuYNZx4+ISMAM+sA/2hxjzY7XWbFxL4cb2wibEWtPkHAnZEY0HKI94YwozuOe2g1Mf2ENkV+sgtNO6++mi4j0qUEb+ImEs3rbAZav20NbPEF+JERJfgRLcffu7iTeeouz/+kf2XHGRPa92sg1F5QRCulOX0SCY1AGfkNrnHtXbWPL3iMURsOUFUa7LG9m3PLsTyhtqueHH1nC9jW7efblg3zj+mkU5w/K/wQiIr026B7aNrTGWfLYFrbsfYvSggh5ke4vYfwbf+baDT9nzcXXsm/iuZQWRNmy9y2WPLaFhtZ4H7RaRKT/DarATySce1dt45W6BkoLoim7b1K5bdUDtOYV8NMP/xXQccdfWhDllboG7l21jURi4C4gJyKSLYMq8FdvO8CWvUd6FfazdrxI1c6XeHz+LRwtGX58f2fob9n7Fqu3HchVk0VEBoxBE/hHm2MsX7eHwmi4x2Efbo/zl6se4LXy8Tz9wRveddzMKIxG+O66PRxtjmW7ySIiA8qgeWK5ZsfrtMUTXT6gLU0cZWbbZqpimyjyRk574Q3GH9zLfX/198Qjqb+XFwlRnxza+fGqtO9WFxEZ9AbFHb67s2LjXvK7eEBbEX+VzzZ8jw+2PU+cCEebSjhz/R85Unk6l1S8SEX81bTfzYuEeHzjXgbyy2BERDKVlcA3s/lmttvMasxsaYrj+Wb278njvzOzib05f92xVg43tqUN/NLEUW5q+ikxi3I4NJKY5VH57HbCbe1s+/BsYqE8bmr6KaWJoym/nx8JcaihjbqG1pTHRUSGgowD38zCwPeBDwHnAzea2fknFbsNeMvdJwP3A//YmzpqDjYQNkvbdz+zbTNRYjTbMABKDhxhwqY/sfd9k2kcVUqzDSNKjBmxLemugXDIqDnY0JtmiYgMKtm4w58N1Lj7K+7eBjwOLDipzALgkeTnlcBc6+mTVzi+Nk46VbFN1Ftpx4Y75z79P8QKo9TMnXK8TL2VMrttU9pzxNoT7D/S0tMmiYgMOtkI/HHAvhO2a5P7UpZx9zhwFBiR6mRmttjMqs2suq6uDuD42jjpFHkjMToeykZaYoQSzp4rpxIvzDteJkaUYd6Y9hwJ9y5/qYiIDHYDbpSOuz8IPAhQVVXlANFwiFAXfxA0WhFRYsTII16Yx+8WXw4n/X6IEqPJitKeo3OhNRGRoSobCfcacOJ4xvHJfSnLmFkEKAMO97SCsWUFXYZxdfQiSr3+7R1mcNLCaKVez8a8i9KeIxoOMfa0gp42SURk0MlG4G8CKs1skpnlAYuAJ08q8yTwqeTnjwHrvRdjICePKqY94WmHTW7Jm0WMKIXelPJ4oTcRI8rW6MyUx92d9oQzeVRxT5skIjLoZBz4yT75JcAzwC7gCXffYWZfN7PrksX+FRhhZjXAXcC7hm52pbwknxHFebTGU/ex14fKeHTYzUQ9xojEIaLeBu5EvS25HePRYTdTHypL+f3WeIKRxXmUF+f3plkiIoOKDeTJRlVVVV5dXQ3Az6r38b31Nd3OtJ0R28Lstk0M80aarIiNeRexNTozbdgD1DfHWHLFZM20FZFBz8w2u3tVqmMD7qFtOldNGc0PN7xCWzyRdknk+lAZG/IvZ0P+5T0+b+f5rpoyOltNFREZkAbNsJSywiifn1tJc6w9a0sguDvNsTh3zK3s9iUqIiKD3aAJfIBrpo1hZsVp1LfEMg59d6e+JcbMiuFcM21MllooIjJwDarAD4WMb1w/jbPKizMK/c6wP6u8mG9cP03vthWRQBhUgQ9QnB/hgU/MZGbFcOpb4rSlGbmTTls8cfzO/oFPzNQ7bUUkMAZd4ENH6H9n4Qy+fPV7SLhT3xyjpYu+fXenJdZOfXOMhDtfvvpcvrNwhsJeRAJl0CZeKGRcO30sl55Tzpodr/P4xr0camgjHLLja+90LpfQnnBGFuexaHYFV00ZrQe0IhJIgzbwO5UVRvl41QQ+Nms8dQ2t1BxsYP+RjtU1O5dLmDyqmPLi/B6/GlFEZCga9IHfycwYVVLAqBKthyMiksqg7MMXEZHeU+CLiASEAl9EJCAU+CIiAaHAFxEJCAW+iEhAKPBFRAJCgS8iEhAZBb6ZnW5ma81sT/Lf4WnKtZvZ1uTPye+7FRGRPpDpHf5SYJ27VwLrSP+u2mZ3n5H8uS5NGRERyaFMA38B8Ejy8yPARzI8n4iI5EimgX+Gux9Ifn4dOCNNuQIzqzazl8ysy18KZrY4Wba6rq4uw+aJiEinbhdPM7NngVRv+L7nxA13dzNL9wqqM939NTM7C1hvZtvc/X9TFXT3B4EHAaqqqrLz8loREek+8N19XrpjZvaGmY1x9wNmNgY4mOYcryX/fcXMngMuBFIGvoiI5EamXTpPAp9Kfv4U8MuTC5jZcDPLT34eCVwC7MywXhER6aVMA38ZcKWZ7QHmJbcxsyoz+1GyzHlAtZn9HvgvYJm7K/BFRPpYRi9AcffDwNwU+6uBv0x+fgGYlkk9IiKSOc20FREJCAW+iEhAKPBFRAJCgS8iEhAKfBGRgFDgi4gEhAJfRCQgFPgiIgGhwBcRCQgFvohIQCjwRUQCQoEvIhIQCnwRkYBQ4IuIBIQCX0QkIBT4IiIBocAXEQmIjALfzD5uZjvMLGFmVV2Um29mu82sxsyWZlKniIicmkzv8LcDHwU2pCtgZmHg+8CHgPOBG83s/AzrFRGRXsr0nba7AMysq2KzgRp3fyVZ9nFgAaAXmYuI9KG+6MMfB+w7Ybs2uS8lM1tsZtVmVl1XV5fzxomIBEW3d/hm9iwwOsWhe9z9l9lukLs/CDwIUFVV5dk+v4hIUHUb+O4+L8M6XgMmnLA9PrlPRET6UF906WwCKs1skpnlAYuAJ/ugXhEROUGmwzKvN7Na4GLgV2b2THL/WDNbDeDucWAJ8AywC3jC3Xdk1mwREemtTEfprAJWpdi/H7jmhO3VwOpM6hIRkcxopq2ISEAo8EVEAkKBLyISEAp8EZGAUOCLiASEAl9EJCAU+CIiAaHAFxEJCAW+iEhAKPBFRAJCgS8iEhAKfBGRgFDgi4gEhAJfRCQgFPgiIgGhwBcRCQgFvohIQCjwRUQCItN32n7czHaYWcLMqroo96qZbTOzrWZWnUmdIiJyajJ6py2wHfgo8MMelL3c3Q9lWJ+IiJyiTF9ivgvAzLLTGhERyZm+6sN3YI2ZbTazxV0VNLPFZlZtZtV1dXV91DwRkaGv2zt8M3sWGJ3i0D3u/sse1vMBd3/NzEYBa83sZXffkKqguz8IPAhQVVXlPTy/iIh0o9vAd/d5mVbi7q8l/z1oZquA2UDKwBcRkdzIeZeOmRWZWUnnZ+AqOh72iohIH8p0WOb1ZlYLXAz8ysyeSe4fa2ark8XOAH5rZr8HNgK/cvf/zKReERHpvUxH6awCVqXYvx+4Jvn5FWB6JvWIiEjmNNNWRCQgFPgiIgGhwBcRCQgFvohIQCjwRUQCQoEvIhIQCnwRkYBQ4IuIBIQCX0QkIBT4IiIBocAXERkAGhoaWLhwIQ0NDTmrQ4EvIjIArFu3jp/97GesX78+Z3Uo8EVEBoBVq1a9499cUOCLiPQzd+fpp58G4KmnnsI9Ny/7U+CLiPSznTt30tLSAkBzczO7du3KST0KfBGRfrZ69Wri8TgAiUSC1atXd/ONU5PRC1BERCRzTzzxBO0F7Qy/ZDhlVWX82H/Mrmd2Ma9iHvPOnEf5sPKs1JPpKw7vM7OXzewPZrbKzE5LU26+me02sxozW5pJnSIig80NN9yAmaX92X1kNxM+O4HhHxiOJ5xjB46x7tl13Pv4vbz3/76XwomF7yh/ww03nFI7Mu3SWQtMdfcLgD8CXzm5gJmFge8DHwLOB240s/MzrFdEZNBYtmwZM2bMoKio6F3HImURRi4cibc78fo4HncSnsDjye12Z8xNY4iURSgqKuLCCy9k2bJlp9SOjALf3de4ezy5+RIwPkWx2UCNu7/i7m3A48CCTOoVERlMKisrqa6u5mtf+xqFhYWEQm9Hb8msEixiJFoTKb+baE0QioQY8b4RfP3rX6e6uprKyspTakc2+/A/Dfx7iv3jgH0nbNcC7013EjNbDCwGqKioyGLzRET6Tzgc5gtf+ALXXXcdCxcuZM+ePTQ2NlJWVUZ7Uzunt8D7Xw9zyRsRiuLQGIH/PiPOS+OgLVzI7M/M5q6P3JVRG7q9wzezZ81se4qfBSeUuQeIA49m1BrA3R909yp3ryovz86DChGRgaLzbv8rX/kKBQUFhApDnH0Y/nZrPlfuj5AA3syDBHDV/ihf21nCR8fNoD3SnnHd3d7hu/u8ro6b2S3AtcBcTz1b4DVgwgnb45P7REQCKRwOM3XqVPLy8ih7K8FnXs4jDjTkvV0mFoYjURgZjXDpz3dz5NZzM64301E684EvA9e5e1OaYpuASjObZGZ5wCLgyUzqFREZ7FatWsWxY8eY+VIbeW60pLj99oRzzGN4W5wP7xuZcZ2ZjtJ5ACgB1prZVjP7ZwAzG2tmqwGSD3WXAM8Au4An3H1HhvWKiAxanUspuDuXHIzQEHEsBGZgJ5YDWmNttBVGOGvrwYzrzeihrbtPTrN/P3DNCdurgdxMHRMRGWR27txJc3MzAMVuHKmLUTi+kILCAloaW2iPt+PmWNjAnTOGjSPc1JJxvZppKyLSx1avXk17ezuhUIgm4NxxZzNmUgWHmg9xKO8Qjc2NtDS2EHszRnt9giarpzwLoxYV+CIifeyJJ54gFosxffp03vsXf0H+b/+bSDifccXjGFc8DoDGxkY2b95MfVs9x15/nZLbbsu4Xi2eJiLSx0aPHs19991HdXU1Z3/iE1heHonGxneUKSoq4tJLL2Vq5WQsL4+SK7scMNkjlqt1l7OhqqrKq6ur+7sZIiI51bx9B29885t4WxuhkhIsGsVjMRLHjmF5eZzxt39L4dQpPTqXmW1296pUx9SlIyLSzwqnTmHc8vs5tvZZjqgMdRcAAAOuSURBVK1dS/ubhwkVl1B2/fWUXDmP6KhRWalHd/giIkNIV3f46sMXEQkIBb6ISEAo8EVEAmJA9+GbWR3w51P8+kjgUBabM9AF7XoheNcctOuF4F1zNq73THdPudTwgA78TJhZdboHF0NR0K4XgnfNQbteCN415/p61aUjIhIQCnwRkYAYyoH/YH83oI8F7XoheNcctOuF4F1zTq93yPbhi4jIOw3lO3wRETmBAl9EJCCGXOCb2Xwz221mNWa2tL/bk2tmNsHM/svMdprZDjO7o7/b1BfMLGxm/2NmT/d3W/qCmZ1mZivN7GUz22VmF/d3m3LJzO5M/v95u5mtMLOC/m5TtpnZQ2Z20My2n7DvdDNba2Z7kv8Oz2adQyrwzSwMfB/4EHA+cKOZnd+/rcq5OPAFdz8feB/w2QBcM8AddLwjOSi+C/ynu58LTGcIX7uZjQP+Bqhy96lAGFjUv63KiYeB+SftWwqsc/dKYF1yO2uGVOADs4Ead3/F3duAx4EF/dymnHL3A+6+Jfn5GB1BMK5/W5VbZjYe+DDwo/5uS18wszLgg8C/Arh7m7sf6d9W5VwEKDSzCDAM2N/P7ck6d98AvHnS7gXAI8nPjwAfyWadQy3wxwH7TtiuZYiH34nMbCJwIfC7/m1Jzi0Hvgwk+rshfWQSUAf8W7Ib60dmVtTfjcoVd38N+H/AXuAAcNTd1/Rvq/rMGe5+IPn5deCMbJ58qAV+YJlZMfBz4PPuXt/f7ckVM7sWOOjum/u7LX0oAswEfuDuFwKNZPlP/YEk2W+9gI5fdGOBIjO7uX9b1fe8Y8x8VsfND7XAfw2YcML2+OS+Ic3MonSE/aPu/h/93Z4cuwS4zsxepaPL7goz+2n/NinnaoFad+/8y20lHb8Ahqp5wJ/cvc7dY8B/AO/v5zb1lTfMbAxA8t+D2Tz5UAv8TUClmU0yszw6HvQ82c9tyikzMzr6dne5+3f6uz255u5fcffx7j6Rjv9917v7kL77c/fXgX1m9p7krrnAzn5sUq7tBd5nZsOS//+eyxB+SH2SJ4FPJT9/CvhlNk8+pN5p6+5xM1sCPEPHk/2H3H1HPzcr1y4BPglsM7OtyX1/6+6r+7FNkn2fAx5N3si8Atzaz+3JGXf/nZmtBLbQMQrtfxiCSyyY2QpgDjDSzGqBvweWAU+Y2W10LA2/MKt1amkFEZFgGGpdOiIikoYCX0QkIBT4IiIBocAXEQkIBb6ISEAo8EVEAkKBLyISEP8fCbs8AmbqSY8AAAAASUVORK5CYII=\n"
      },
      "metadata": {
       "needs_background": "light"
@@ -291,8 +297,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
-   "metadata": {},
+   "execution_count": 14,
+   "metadata": {
+    "pycharm": {
+     "is_executing": false
+    }
+   },
    "outputs": [],
    "source": [
     "# Copy the data to have a consistent naming with the .py file\n",
@@ -312,18 +322,22 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
-   "metadata": {},
+   "execution_count": 15,
+   "metadata": {
+    "pycharm": {
+     "is_executing": false
+    }
+   },
    "outputs": [
     {
      "name": "stdout",
-     "output_type": "stream",
      "text": [
       "Node combinations: \n",
       " [(0, 1)]\n",
       "Node 0 observed landmark with ID 0.0\n",
       "Node 1 observed landmark with ID 0.0\n"
-     ]
+     ],
+     "output_type": "stream"
     }
    ],
    "source": [
@@ -354,12 +368,15 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
-   "metadata": {},
+   "execution_count": 16,
+   "metadata": {
+    "pycharm": {
+     "is_executing": false
+    }
+   },
    "outputs": [
     {
      "name": "stdout",
-     "output_type": "stream",
      "text": [
       "0.0 1.427649841628278 -2.0126109674819155 -3.524048014922737\n",
       "For nodes (0, 1)\n",
@@ -367,14 +384,13 @@
       " [[-0.02 ]\n",
       " [-0.084]\n",
       " [ 0.   ]]\n"
-     ]
+     ],
+     "output_type": "stream"
     },
     {
      "data": {
-      "image/png": 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\n",
-      "text/plain": [
-       "<Figure size 432x288 with 1 Axes>"
-      ]
+      "text/plain": "<Figure size 432x288 with 1 Axes>",
+      "image/png": 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\n"
      },
      "metadata": {
       "needs_background": "light"
@@ -460,41 +476,35 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
-   "metadata": {},
+   "execution_count": 17,
+   "metadata": {
+    "pycharm": {
+     "is_executing": false
+    }
+   },
    "outputs": [
     {
      "name": "stdout",
-     "output_type": "stream",
      "text": [
-      "The determinant of H:  0.0\n"
-     ]
+      "The determinant of H:  0.0\n",
+      "The determinant of H after origin constraint:  716.1972439134893\n"
+     ],
+     "output_type": "stream"
     },
     {
      "data": {
-      "image/png": "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\n",
-      "text/plain": [
-       "<Figure size 432x288 with 2 Axes>"
-      ]
+      "text/plain": "<Figure size 432x288 with 2 Axes>",
+      "image/png": "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\n"
      },
      "metadata": {
       "needs_background": "light"
      },
      "output_type": "display_data"
     },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "The determinant of H after origin constraint:  716.1972439134918\n"
-     ]
-    },
     {
      "data": {
-      "image/png": "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\n",
-      "text/plain": [
-       "<Figure size 432x288 with 2 Axes>"
-      ]
+      "text/plain": "<Figure size 432x288 with 2 Axes>",
+      "image/png": "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\n"
      },
      "metadata": {
       "needs_background": "light"
@@ -559,15 +569,18 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
-   "metadata": {},
+   "execution_count": 18,
+   "metadata": {
+    "pycharm": {
+     "is_executing": false
+    }
+   },
    "outputs": [
     {
      "name": "stdout",
-     "output_type": "stream",
      "text": [
       "dx: \n",
-      " [[ 0.   ]\n",
+      " [[-0.   ]\n",
       " [-0.   ]\n",
       " [ 0.   ]\n",
       " [ 0.02 ]\n",
@@ -582,13 +595,14 @@
       " [0.    1.428]\n",
       " [0.785 0.976]]\n",
       "SLAM: \n",
-      " [[ 0.     1.448]\n",
+      " [[-0.     1.448]\n",
       " [-0.     1.512]\n",
       " [ 0.785  0.976]]\n",
       "\n",
-      "graphSLAM localization error:  0.0107290727510571\n",
+      "graphSLAM localization error:  0.010729072751057656\n",
       "Odom localization error:  0.0004460978857535104\n"
-     ]
+     ],
+     "output_type": "stream"
     }
    ],
    "source": [
@@ -625,8 +639,12 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
+   "execution_count": 18,
+   "metadata": {
+    "pycharm": {
+     "is_executing": false
+    }
+   },
    "outputs": [],
    "source": []
   }