From ca61cbbc302acbd56ebb803d7b02f17967418f02 Mon Sep 17 00:00:00 2001
From: Andrew Tu <drewtu2@yahoo.com>
Date: Wed, 24 Apr 2019 18:47:09 -0400
Subject: [PATCH] testing math

---
 SLAM/EKFSLAM/ekf_slam.ipynb | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/SLAM/EKFSLAM/ekf_slam.ipynb b/SLAM/EKFSLAM/ekf_slam.ipynb
index a225413c..5f2ad6da 100644
--- a/SLAM/EKFSLAM/ekf_slam.ipynb
+++ b/SLAM/EKFSLAM/ekf_slam.ipynb
@@ -62,7 +62,7 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "\n",
+    "\\begin{equation}\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",
     "& P = \\begin{bmatrix} \n",
@@ -71,7 +71,8 @@
     " &  &  &  & \\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}"
+    "\\end{array}\n",
+    "\\end{equaiton}"
    ]
   },
   {