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Merge branch 'master' of https://github.com/drewtu2/PythonRobotics

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Andrew Tu
2019-04-26 12:43:46 -04:00
parent f3915ae87e a8ce073d03
commit a96073e4bf
1 changed files with 3 additions and 3 deletions
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SLAM/EKFSLAM/ekf_slam.ipynb
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@@ -323,7 +323,7 @@
" \"\"\"\n",
" Computes the motion model based on current state and input function. \n",
" \n",
" :param x: 3x3 pose estimation\n",
" :param x: 3x1 pose estimation\n",
" :param u: 2x1 control input [v; w]\n",
" :returns: the resutling state after the control function is applied\n",
" \"\"\"\n",
@@ -451,7 +451,7 @@
" :param PEst: estimated covariance\n",
" :param z: read measurements\n",
" :param LMid: landmark id\n",
" :returns: returns the innovation y, xxxxxxxxxxxx, and the jacobian H\n",
" :returns: returns the innovation y, and the jacobian H, and S, used to calculate the Kalman Gain\n",
" \"\"\"\n",
" delta = lm - xEst[0:2]\n",
" q = (delta.T @ delta)[0, 0]\n",
@@ -471,7 +471,7 @@
" \"\"\"\n",
" Calculates the jacobian of the measurement function\n",
" \n",
" :param q: \n",
" :param q: the range from the system pose to the landmark\n",
" :param delta: the difference between a landmark position and the estimated system position\n",
" :param x: the state, including the estimated system position\n",
" :param i: landmark id + 1\n",