From af5665ce9f3d696260a87fbe11b0e03704f69a52 Mon Sep 17 00:00:00 2001
From: Andrew Tu <drewtu2@yahoo.com>
Date: Wed, 24 Apr 2019 00:10:04 -0400
Subject: [PATCH] testing different math representations for gitub rendering

---
 SLAM/EKFSLAM/ekf_slam.ipynb | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/SLAM/EKFSLAM/ekf_slam.ipynb b/SLAM/EKFSLAM/ekf_slam.ipynb
index 9b584931..a225413c 100644
--- a/SLAM/EKFSLAM/ekf_slam.ipynb
+++ b/SLAM/EKFSLAM/ekf_slam.ipynb
@@ -62,18 +62,16 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "$$\n",
+    "\n",
     "\\begin{array}{cc}\n",
     "X = \\begin{bmatrix} x \\\\ y \\\\ \\theta \\\\ x_1 \\\\ y_1 \\\\ x_2 \\\\ y_2 \\\\ \\dots \\\\ x_n \\\\ y_n\\end{bmatrix}\\\n",
-    "&\\\n",
-    "P = \\begin{bmatrix} \n",
+    "& P = \\begin{bmatrix} \n",
     "\\sigma_{xx} & \\sigma_{xy} & \\sigma_{x\\theta} & \\sigma_{xx_1} & \\sigma_{xy_1} & \\sigma_{xx_2} & \\sigma_{xy_2} & \\dots & \\sigma_{xx_n} & \\sigma_{xy_n} \\\\\n",
     "\\sigma_{yx} & \\sigma_{yy} & \\sigma_{y\\theta} & \\sigma_{yx_1} & \\sigma_{yy_1} & \\sigma_{yx_2} & \\sigma_{yy_2} & \\dots & \\sigma_{yx_n} & \\sigma_{yy_n} \\\\\n",
     " &  &  &  & \\vdots &  &  &  &  &  \\\\\n",
     "\\sigma_{x_nx} & \\sigma_{x_ny} & \\sigma_{x_n\\theta} & \\sigma_{x_nx_1} & \\sigma_{x_ny_1} & \\sigma_{x_nx_2} & \\sigma_{x_ny_2} & \\dots & \\sigma_{x_nx_n} & \\sigma_{x_ny_n}\n",
     "\\end{bmatrix}\n",
-    "\\end{array}\n",
-    "$$"
+    "\\end{array}"
    ]
   },
   {
@@ -92,15 +90,13 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "$$\n",
     "\\begin{array}{cc}\n",
     "X = \\begin{bmatrix} x \\\\ m \\end{bmatrix}\n",
     "&P = \\begin{bmatrix} \n",
     "\\Sigma_{xx} & \\Sigma_{xm}\\\\\n",
     "\\Sigma_{mx} & \\Sigma_{mm}\\\\\n",
     "\\end{bmatrix}\n",
-    "\\end{array}\n",
-    "$$"
+    "\\end{array}"
    ]
   },
   {