From 7007bd2da1d8d7e70fcee33527cf149b8f698f37 Mon Sep 17 00:00:00 2001 From: Tomas Barton Date: Fri, 4 May 2018 09:42:26 -0600 Subject: [PATCH] Fix a typo in Chapter 8 --- 08-Designing-Kalman-Filters.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/08-Designing-Kalman-Filters.ipynb b/08-Designing-Kalman-Filters.ipynb index dfffe99..2be5122 100644 --- a/08-Designing-Kalman-Filters.ipynb +++ b/08-Designing-Kalman-Filters.ipynb @@ -1803,7 +1803,7 @@ "\n", "As I've mentioned, you may place the variables in $\\mathbf x$ in whatever order you choose. For example, you could define a 1D constant acceleration as $\\mathbf x = \\begin{bmatrix}\\ddot x & x & \\dot x\\end{bmatrix}^\\mathsf T$. I can't imagine why you would want that order, but it is possible.\n", "\n", - "Let's do something more reasonable. Design a second order filter for a robot moving in 2D, where $\\mathbf x = \\begin{bmatrix}x & y & \\dot x & \\dot y \\end{bmatrix}^\\mathsf T$. In this chapter we have been using $\\mathbf x = \\begin{bmatrix}x & \\dot x & \\dot y & \\dot y \\end{bmatrix}^\\mathsf T$.\n", + "Let's do something more reasonable. Design a second order filter for a robot moving in 2D, where $\\mathbf x = \\begin{bmatrix}x & y & \\dot x & \\dot y \\end{bmatrix}^\\mathsf T$. In this chapter we have been using $\\mathbf x = \\begin{bmatrix}x & \\dot x & y & \\dot y \\end{bmatrix}^\\mathsf T$.\n", "\n", "Why would you choose a different ordering? As you'll see in a moment, changing the order of $\\mathbf x$ changes the order of most of the rest of the filter's matrices. Depending on what data you want to inspect, such as the correlations in $\\mathbf P$, various orderings of $\\mathbf x$ can make that easier or more difficult.\n", "\n",