From a8ce073d0307ba8c41a0ac4875d3d04e4a0d5b31 Mon Sep 17 00:00:00 2001 From: Alec Li Date: Fri, 26 Apr 2019 01:14:18 -0400 Subject: [PATCH] added additional variable explanations --- SLAM/EKFSLAM/ekf_slam.ipynb | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/SLAM/EKFSLAM/ekf_slam.ipynb b/SLAM/EKFSLAM/ekf_slam.ipynb index 843366e4..f7e42ab2 100644 --- a/SLAM/EKFSLAM/ekf_slam.ipynb +++ b/SLAM/EKFSLAM/ekf_slam.ipynb @@ -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",