Added MM filter bank.

code/adaptive_internal.py

@@ -0,0 +1,30 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Tue Jun 30 19:48:21 2015
+
+@author: rlabbe
+"""
+
+import matplotlib.pyplot as plt
+import book_plots as bp
+
+
+def plot_track_and_residuals(t, xs, z_xs, res):
+    plt.subplot(121)
+    bp.plot_measurements(t, z_xs, label='z')
+    bp.plot_filter(t, xs)
+    plt.legend(loc=2)
+    plt.xlabel('time (sec)')
+    plt.ylabel('X')
+    plt.title('estimates vs measurements')
+    plt.subplot(122)
+    # plot twice so it has the same color as the plot to the left!
+    plt.plot(t, res)
+    plt.plot(t, res)
+    plt.xlabel('time (sec)')
+    plt.ylabel('residual')
+    plt.title('residuals')
+    plt.show()
+
+
+