From d7d3f32899dda6eb896b6fa3787f1c5a706e94cd Mon Sep 17 00:00:00 2001 From: Andrew Tu Date: Tue, 23 Apr 2019 23:52:59 -0400 Subject: [PATCH] testing different math representations for gitub rendering --- SLAM/EKFSLAM/ekf_slam.ipynb | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/SLAM/EKFSLAM/ekf_slam.ipynb b/SLAM/EKFSLAM/ekf_slam.ipynb index 98ca229c..9b584931 100644 --- a/SLAM/EKFSLAM/ekf_slam.ipynb +++ b/SLAM/EKFSLAM/ekf_slam.ipynb @@ -64,8 +64,8 @@ "source": [ "$$\n", "\\begin{array}{cc}\n", - "X = \\begin{bmatrix} x \\\\ y \\\\ \\theta \\\\ x_1 \\\\ y_1 \\\\ x_2 \\\\ y_2 \\\\ \\dots \\\\ x_n \\\\ y_n\\end{bmatrix}\n", - "&\n", + "X = \\begin{bmatrix} x \\\\ y \\\\ \\theta \\\\ x_1 \\\\ y_1 \\\\ x_2 \\\\ y_2 \\\\ \\dots \\\\ x_n \\\\ y_n\\end{bmatrix}\\\n", + "&\\\n", "P = \\begin{bmatrix} \n", "\\sigma_{xx} & \\sigma_{xy} & \\sigma_{x\\theta} & \\sigma_{xx_1} & \\sigma_{xy_1} & \\sigma_{xx_2} & \\sigma_{xy_2} & \\dots & \\sigma_{xx_n} & \\sigma_{xy_n} \\\\\n", "\\sigma_{yx} & \\sigma_{yy} & \\sigma_{y\\theta} & \\sigma_{yx_1} & \\sigma_{yy_1} & \\sigma_{yx_2} & \\sigma_{yy_2} & \\dots & \\sigma_{yx_n} & \\sigma_{yy_n} \\\\\n", @@ -95,8 +95,7 @@ "$$\n", "\\begin{array}{cc}\n", "X = \\begin{bmatrix} x \\\\ m \\end{bmatrix}\n", - "&\n", - "P = \\begin{bmatrix} \n", + "&P = \\begin{bmatrix} \n", "\\Sigma_{xx} & \\Sigma_{xm}\\\\\n", "\\Sigma_{mx} & \\Sigma_{mm}\\\\\n", "\\end{bmatrix}\n",