Fixed bug with book building.

Untitled0.ipynb

@@ -8,6 +8,240 @@
  "worksheets": [
   {
    "cells": [
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "#format the book\n",
+      "%matplotlib inline\n",
+      "from __future__ import division, print_function\n",
+      "import matplotlib.pyplot as plt\n",
+      "import book_format\n",
+      "book_format.load_style()"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "html": [
+        "<style>\n",
+        "    div.cell{\n",
+        "        width: 850px;\n",
+        "        margin-left: 0% !important;\n",
+        "        margin-right: auto;\n",
+        "    }\n",
+        "    div.text_cell code {\n",
+        "        background: #F6F6F9;\n",
+        "        color: #0000FF;\n",
+        "   }\n",
+        "    h1 {\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "\t}\n",
+        "\t\n",
+        "    div.input_area {\n",
+        "        background: #F6F6F9;\n",
+        "        border: 1px solid #586e75;\n",
+        "    }\n",
+        "\n",
+        "    .text_cell_render h1 {\n",
+        "        font-weight: 200;\n",
+        "        font-size: 36pt;\n",
+        "        line-height: 100%;\n",
+        "        color:#c76c0c;\n",
+        "        margin-bottom: 0.5em;\n",
+        "        margin-top: 1em;\n",
+        "        display: block;\n",
+        "        white-space: wrap;\n",
+        "    } \n",
+        "    h2 {\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "    }\n",
+        "    .text_cell_render h2 {\n",
+        "        font-weight: 200;\n",
+        "        font-size: 20pt;\n",
+        "        font-style: italic;\n",
+        "        line-height: 100%;\n",
+        "        color:#c76c0c;\n",
+        "        margin-bottom: 1.5em;\n",
+        "        margin-top: 0.5em;\n",
+        "        display: block;\n",
+        "        white-space: nowrap;\n",
+        "    } \n",
+        "    h3 {\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "    }\n",
+        "    .text_cell_render h3 {\n",
+        "        font-weight: 300;\n",
+        "        font-size: 18pt;\n",
+        "        line-height: 100%;\n",
+        "        color:#d77c0c;\n",
+        "        margin-bottom: 0.5em;\n",
+        "        margin-top: 2em;\n",
+        "        display: block;\n",
+        "        white-space: nowrap;\n",
+        "    }\n",
+        "    h4 {\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "    }\n",
+        "    .text_cell_render h4 {\n",
+        "        font-weight: 300;\n",
+        "        font-size: 16pt;\n",
+        "        color:#d77c0c;\n",
+        "        margin-bottom: 0.5em;\n",
+        "        margin-top: 0.5em;\n",
+        "        display: block;\n",
+        "        white-space: nowrap;\n",
+        "    }\n",
+        "    h5 {\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "    }\n",
+        "    .text_cell_render h5 {\n",
+        "        font-weight: 300;\n",
+        "        font-style: normal;\n",
+        "        color: #1d3b84;\n",
+        "        font-size: 16pt;\n",
+        "        margin-bottom: 0em;\n",
+        "        margin-top: 1.5em;\n",
+        "        display: block;\n",
+        "        white-space: nowrap;\n",
+        "    }\n",
+        "    div.text_cell_render{\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "        line-height: 135%;\n",
+        "        font-size: 125%;\n",
+        "        width:750px;\n",
+        "        margin-left:auto;\n",
+        "        margin-right:auto;\n",
+        "        text-align:justify;\n",
+        "        text-justify:inter-word;\n",
+        "    }\n",
+        "    div.output_subarea.output_text.output_pyout {\n",
+        "        overflow-x: auto;\n",
+        "        overflow-y: scroll;\n",
+        "        max-height: 300px;\n",
+        "    }\n",
+        "    div.output_subarea.output_stream.output_stdout.output_text {\n",
+        "        overflow-x: auto;\n",
+        "        overflow-y: scroll;\n",
+        "        max-height: 300px;\n",
+        "    }\n",
+        "    code{\n",
+        "      font-size: 70%;\n",
+        "    }\n",
+        "    .rendered_html code{\n",
+        "    background-color: transparent;\n",
+        "    }\n",
+        "    ul{\n",
+        "        margin: 2em;\n",
+        "    }\n",
+        "    ul li{\n",
+        "        padding-left: 0.5em; \n",
+        "        margin-bottom: 0.5em; \n",
+        "        margin-top: 0.5em; \n",
+        "    }\n",
+        "    ul li li{\n",
+        "        padding-left: 0.2em; \n",
+        "        margin-bottom: 0.2em; \n",
+        "        margin-top: 0.2em; \n",
+        "    }\n",
+        "    ol{\n",
+        "        margin: 2em;\n",
+        "    }\n",
+        "    ol li{\n",
+        "        padding-left: 0.5em; \n",
+        "        margin-bottom: 0.5em; \n",
+        "        margin-top: 0.5em; \n",
+        "    }\n",
+        "    ul li{\n",
+        "        padding-left: 0.5em; \n",
+        "        margin-bottom: 0.5em; \n",
+        "        margin-top: 0.2em; \n",
+        "    }\n",
+        "    a:link{\n",
+        "       font-weight: bold;\n",
+        "       color:#447adb;\n",
+        "    }\n",
+        "    a:visited{\n",
+        "       font-weight: bold;\n",
+        "       color: #1d3b84;\n",
+        "    }\n",
+        "    a:hover{\n",
+        "       font-weight: bold;\n",
+        "       color: #1d3b84;\n",
+        "    }\n",
+        "    a:focus{\n",
+        "       font-weight: bold;\n",
+        "       color:#447adb;\n",
+        "    }\n",
+        "    a:active{\n",
+        "       font-weight: bold;\n",
+        "       color:#447adb;\n",
+        "    }\n",
+        "    .rendered_html :link {\n",
+        "       text-decoration: underline; \n",
+        "    }\n",
+        "    .rendered_html :hover {\n",
+        "       text-decoration: none; \n",
+        "    }\n",
+        "    .rendered_html :visited {\n",
+        "      text-decoration: none;\n",
+        "    }\n",
+        "    .rendered_html :focus {\n",
+        "      text-decoration: none;\n",
+        "    }\n",
+        "    .rendered_html :active {\n",
+        "      text-decoration: none;\n",
+        "    }\n",
+        "    .warning{\n",
+        "        color: rgb( 240, 20, 20 )\n",
+        "    } \n",
+        "    hr {\n",
+        "      color: #f3f3f3;\n",
+        "      background-color: #f3f3f3;\n",
+        "      height: 1px;\n",
+        "    }\n",
+        "    blockquote{\n",
+        "      display:block;\n",
+        "      background: #fcfcfc;\n",
+        "      border-left: 5px solid #c76c0c;\n",
+        "      font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "      width:680px;\n",
+        "      padding: 10px 10px 10px 10px;\n",
+        "      text-align:justify;\n",
+        "      text-justify:inter-word;\n",
+        "      }\n",
+        "      blockquote p {\n",
+        "        margin-bottom: 0;\n",
+        "        line-height: 125%;\n",
+        "        font-size: 100%;\n",
+        "      }\n",
+        "</style>\n",
+        "<script>\n",
+        "    MathJax.Hub.Config({\n",
+        "                        TeX: {\n",
+        "                           extensions: [\"AMSmath.js\"]\n",
+        "                           },\n",
+        "                tex2jax: {\n",
+        "                    inlineMath: [ ['$','$'], [\"\\\\(\",\"\\\\)\"] ],\n",
+        "                    displayMath: [ ['$$','$$'], [\"\\\\[\",\"\\\\]\"] ]\n",
+        "                },\n",
+        "                displayAlign: 'center', // Change this to 'center' to center equations.\n",
+        "                \"HTML-CSS\": {\n",
+        "                    styles: {'.MathJax_Display': {\"margin\": 4}}\n",
+        "                }\n",
+        "        });\n",
+        "</script>\n"
+       ],
+       "metadata": {},
+       "output_type": "pyout",
+       "prompt_number": 1,
+       "text": [
+        "<IPython.core.display.HTML at 0x1e2f910>"
+       ]
+      }
+     ],
+     "prompt_number": 1
+    },
     {
      "cell_type": "heading",
      "level": 1,
@@ -20,30 +254,13 @@
      "cell_type": "markdown",
      "metadata": {},
      "source": [
-      "\n",
-      "$$\n",
-      "\\begin{table}\n",
-      "\\begin{tabular}{ l c r}\n",
-      "1 & 2 & 3 \\\\\n",
-      "3 & 5 & 6 \\\\\n",
-      "7 & 8 & 9 \\\\\n",
-      "\\end{tabular}\n",
-      "\\end(table}\n",
-      "$$\n"
+      "this test\n"
      ]
     },
     {
      "cell_type": "markdown",
      "metadata": {},
-     "source": [
-      "$$\n",
-      "\\begin{tabular}{l c r}\n",
-      "& 1D & 2D and up\\\\ \\hline\n",
-      "& state & $\\mu$ & $x$ \\\\ \\hlione\n",
-      "& uncertainty & $\\sigma^2$ & $\\small\\mathbf{P}$|\n",
-      "\\end{tabular}\n",
-      "$$\n"
-     ]
+     "source": []
     },
     {
      "cell_type": "markdown",
@@ -80,14 +297,7 @@
     {
      "cell_type": "code",
      "collapsed": false,
-     "input": [
-      "#format the book\n",
-      "%matplotlib inline\n",
-      "from __future__ import division, print_function\n",
-      "import matplotlib.pyplot as plt\n",
-      "import book_format\n",
-      "book_format.load_style()"
-     ],
+     "input": [],
      "language": "python",
      "metadata": {},
      "outputs": [

book.tplx

@@ -13,6 +13,8 @@
 
 ((* block title *))
 \title{Kalman and Bayesian Filters in Python}
+\author{Roger R Labbe Jr}
+\date{}
 ((* endblock title *))
 
 % Define block headings

book_to_pdf.bat

@@ -0,0 +1 @@
+ipython nbconvert --to latex --template book --post PDF book.ipynb

build_book.bat

@@ -1,22 +1,5 @@
 
-echo "merging book..."
-
-
-python nbmerge.py Preface.ipynb Signals_and_Noise.ipynb g-h_filter.ipynb discrete_bayes.ipynb Gaussians.ipynb Kalman_Filters.ipynb Multidimensional_Kalman_Filters.ipynb Kalman_Filter_Math.ipynb Designing_Kalman_Filters.ipynb Extended_Kalman_Filters.ipynb Unscented_Kalman_Filter.ipynb > book.ipynb
-
-
-
-echo "creating pdf..."
-
+python merge_book.py Preface.ipynb Signals_and_Noise.ipynb g-h_filter.ipynb discrete_bayes.ipynb Gaussians.ipynb Kalman_Filters.ipynb Multidimensional_Kalman_Filters.ipynb Kalman_Filter_Math.ipynb Designing_Kalman_Filters.ipynb Extended_Kalman_Filters.ipynb Unscented_Kalman_Filter.ipynb > book.ipynb
+ipython nbconvert --to latex --template book --post PDF book.ipynb
 
 
-python nbconvert --to latex --template book --post PDF book.ipynb
-
-mkdir output
-copy /y *.tex output
-copy /y *.pdf output
-
-
-
-echo "done."
-

g-h_filter.ipynb

@@ -1,7 +1,7 @@
 {
  "metadata": {
   "name": "",
-  "signature": "sha256:1c41d8aae6dda2b175616950de778f3a126060ab72aade94f4566c62d364f0c7"
+  "signature": "sha256:bfe3bacdc2d7cc23284f14dd3891819fd6c39a8b8ad0a092f81df050553181c4"
  },
  "nbformat": 3,
  "nbformat_minor": 0,
@@ -244,7 +244,7 @@
        "output_type": "pyout",
        "prompt_number": 1,
        "text": [
-        "<IPython.core.display.HTML at 0x21b4910>"
+        "<IPython.core.display.HTML at 0x2327950>"
        ]
       }
      ],
@@ -345,7 +345,7 @@
        "output_type": "display_data",
        "png": 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        "text": [
-        "<matplotlib.figure.Figure at 0x29ab4d0>"
+        "<matplotlib.figure.Figure at 0x2a7ef50>"
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@@ -378,7 +378,7 @@
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        "text": [
-        "<matplotlib.figure.Figure at 0x3aa7dd0>"
+        "<matplotlib.figure.Figure at 0x341f0d0>"
        ]
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      ],
@@ -412,7 +412,7 @@
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        "text": [
-        "<matplotlib.figure.Figure at 0x3a95f50>"
+        "<matplotlib.figure.Figure at 0x3397090>"
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@@ -446,7 +446,7 @@
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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3e12990>"
+        "<matplotlib.figure.Figure at 0x341fa90>"
        ]
       }
      ],
@@ -473,7 +473,7 @@
        "output_type": "display_data",
        "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3aa5c90>"
+        "<matplotlib.figure.Figure at 0x3434610>"
        ]
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@@ -509,7 +509,7 @@
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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3a99c10>"
+        "<matplotlib.figure.Figure at 0x3440350>"
        ]
       }
      ],
@@ -560,7 +560,7 @@
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        "text": [
-        "<matplotlib.figure.Figure at 0x3aa93d0>"
+        "<matplotlib.figure.Figure at 0x3391f50>"
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@@ -615,7 +615,7 @@
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        "text": [
-        "<matplotlib.figure.Figure at 0x3107dd0>"
+        "<matplotlib.figure.Figure at 0x34406d0>"
        ]
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      ],
@@ -680,7 +680,7 @@
        "output_type": "display_data",
        "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3abc410>"
+        "<matplotlib.figure.Figure at 0x37b7610>"
        ]
       }
      ],
@@ -788,26 +788,16 @@
      "language": "python",
      "metadata": {},
      "outputs": [
-      {
-       "ename": "NameError",
-       "evalue": "name 'weights' is not defined",
-       "output_type": "pyerr",
-       "traceback": [
-        "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[1;31mNameError\u001b[0m                                 Traceback (most recent call last)",
-        "\u001b[1;32m<ipython-input-2-6154b8dfda65>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[0;32m     42\u001b[0m \u001b[0mplt\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mxlim\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;36m0\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;36m10\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     43\u001b[0m \u001b[0mplt\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mplot\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;36m0\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;36m9\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;36m160\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;36m170\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m\u001b[0mc\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;34m'g'\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 44\u001b[1;33m \u001b[0mdata\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mg_h_filter\u001b[0m \u001b[1;33m(\u001b[0m\u001b[0mdata\u001b[0m\u001b[1;33m=\u001b[0m\u001b[0mweights\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mx0\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m160\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mdx\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m1\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mg\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m6.\u001b[0m\u001b[1;33m/\u001b[0m\u001b[1;36m10\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mh\u001b[0m \u001b[1;33m=\u001b[0m \u001b[1;36m2.\u001b[0m\u001b[1;33m/\u001b[0m\u001b[1;36m3\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mdt\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m1.\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m     45\u001b[0m \u001b[0mplot_g_h_results\u001b[0m \u001b[1;33m(\u001b[0m\u001b[0mweights\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mdata\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
-        "\u001b[1;31mNameError\u001b[0m: name 'weights' is not defined"
-       ]
-      },
       {
        "metadata": {},
        "output_type": "display_data",
-       "png": 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+       "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x322a910>"
+        "<matplotlib.figure.Figure at 0x3421490>"
        ]
       }
      ],
-     "prompt_number": 2
+     "prompt_number": 11
     },
     {
      "cell_type": "markdown",
@@ -896,9 +886,9 @@
       {
        "metadata": {},
        "output_type": "display_data",
-       "png": 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truncated
+       "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3e12150>"
+        "<matplotlib.figure.Figure at 0x378a550>"
        ]
       }
      ],
@@ -950,17 +940,15 @@
      "metadata": {},
      "outputs": [
       {
-       "ename": "NameError",
-       "evalue": "name 'gen_data' is not defined",
-       "output_type": "pyerr",
-       "traceback": [
-        "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[1;31mNameError\u001b[0m                                 Traceback (most recent call last)",
-        "\u001b[1;32m<ipython-input-3-c60d1f9dbeb1>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m()\u001b[0m\n\u001b[1;32m----> 1\u001b[1;33m \u001b[0mzs\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mgen_data\u001b[0m \u001b[1;33m(\u001b[0m\u001b[0mx0\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m5\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mdx\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m2\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mcount\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m100\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mnoise_factor\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m10\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m      2\u001b[0m \u001b[0mdata\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mg_h_filter\u001b[0m \u001b[1;33m(\u001b[0m\u001b[0mdata\u001b[0m\u001b[1;33m=\u001b[0m\u001b[0mzs\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mx0\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m100.\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mdx\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m2.\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mdt\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m1.\u001b[0m\u001b[1;33m,\u001b[0m\u001b[0mg\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m0.2\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mh\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m0.01\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      3\u001b[0m \u001b[0mplot_g_h_results\u001b[0m  \u001b[1;33m(\u001b[0m\u001b[0mmeasurements\u001b[0m\u001b[1;33m=\u001b[0m\u001b[0mzs\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mfiltered_data\u001b[0m\u001b[1;33m=\u001b[0m\u001b[0mdata\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
-        "\u001b[1;31mNameError\u001b[0m: name 'gen_data' is not defined"
+       "metadata": {},
+       "output_type": "display_data",
+       "png": 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truncated
+       "text": [
+        "<matplotlib.figure.Figure at 0x3434850>"
        ]
       }
      ],
-     "prompt_number": 3
+     "prompt_number": 15
     },
     {
      "cell_type": "markdown",
@@ -1017,13 +1005,13 @@
       {
        "metadata": {},
        "output_type": "display_data",
-       "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3f8e3d0>"
+        "<matplotlib.figure.Figure at 0x3421890>"
        ]
       }
      ],
-     "prompt_number": 30
+     "prompt_number": 17
     },
     {
      "cell_type": "markdown",
@@ -1093,11 +1081,11 @@
        "output_type": "display_data",
        "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3aa9b50>"
+        "<matplotlib.figure.Figure at 0x3449890>"
        ]
       }
      ],
-     "prompt_number": 29
+     "prompt_number": 19
     },
     {
      "cell_type": "markdown",
@@ -1166,25 +1154,25 @@
       {
        "metadata": {},
        "output_type": "display_data",
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truncated
+       "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3abb290>"
+        "<matplotlib.figure.Figure at 0x37b78d0>"
        ]
       },
       {
        "metadata": {},
        "output_type": "display_data",
-       "png": 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truncated
+       "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3e39e10>"
+        "<matplotlib.figure.Figure at 0x3441390>"
        ]
       },
       {
        "metadata": {},
        "output_type": "display_data",
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truncated
+       "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x4402f10>"
+        "<matplotlib.figure.Figure at 0x3bb7ed0>"
        ]
       }
      ],
@@ -1223,7 +1211,7 @@
        "output_type": "display_data",
        "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3f8c390>"
+        "<matplotlib.figure.Figure at 0x37b7250>"
        ]
       },
       {
@@ -1231,7 +1219,7 @@
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        "text": [
-        "<matplotlib.figure.Figure at 0x3acfe10>"
+        "<matplotlib.figure.Figure at 0x34273d0>"
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        "text": [
-        "<matplotlib.figure.Figure at 0x43eb110>"
+        "<matplotlib.figure.Figure at 0x3ba4150>"
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@@ -1274,7 +1262,7 @@
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        "text": [
-        "<matplotlib.figure.Figure at 0x3f8eb90>"
+        "<matplotlib.figure.Figure at 0x392be90>"
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@@ -1282,7 +1270,7 @@
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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3ac4050>"
+        "<matplotlib.figure.Figure at 0x3902cd0>"
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      ],
@@ -1330,7 +1318,7 @@
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        "text": [
-        "<matplotlib.figure.Figure at 0x3abc110>"
+        "<matplotlib.figure.Figure at 0x341e810>"
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@@ -1338,7 +1326,7 @@
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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x3aa0890>"
+        "<matplotlib.figure.Figure at 0x3445350>"
        ]
       },
       {
@@ -1346,7 +1334,7 @@
        "output_type": "display_data",
        "png": 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truncated
        "text": [
-        "<matplotlib.figure.Figure at 0x43ed110>"
+        "<matplotlib.figure.Figure at 0x3bae550>"
        ]
       }
      ],

merge_book.py

@@ -0,0 +1,35 @@
+import io
+from IPython.nbformat import current
+import sys
+
+def remove_formatting(nb):
+    w = nb['worksheets']
+    node = w[0]
+    c = node['cells']
+    for i in range (len(c)):
+        if 'input' in c[i].keys():
+            if c[i]['input'][0:16] == '#format the book':
+                del c[i]
+                return
+
+
+def merge_notebooks(filenames):
+    merged = None
+    for fname in filenames:
+        with io.open(fname, 'r', encoding='utf-8') as f:
+            nb = current.read(f, u'json')
+            remove_formatting(nb)
+        if merged is None:
+            merged = nb
+        else:
+            merged.worksheets[0].cells.extend(nb.worksheets[0].cells)
+    merged.metadata.name += "_merged"
+
+    print current.writes(merged, u'json')
+
+
+if __name__ == '__main__':
+    #merge_notebooks(sys.argv[1:])   
+    merge_notebooks(['Preface.ipynb', 'Signals_and_Noise.ipynb','g-h_filter.ipynb', 'discrete_bayes.ipynb', 'Gaussians.ipynb', 'Kalman_Filters.ipynb', 'Multidimensional_Kalman_Filters.ipynb', 'Kalman_Filter_Math.ipynb', 'Extended_Kalman_Filters.ipynb', 'Unscented_Kalman_Filter.ipynb'])
+#    merge_notebooks(['Preface.ipynb', 'Signals_and_Noise.ipynb' g-h_filter.ipynb discrete_bayes.ipynb Gaussians.ipynb Kalman_Filters.ipynb Multidimensional_Kalman_Filters.ipynb Kalman_Filter_Math.ipynb Designing_Kalman_Filters.ipynb Extended_Kalman_Filters.ipynb Unscented_Kalman_Filter.ipynb'])
+    

out_Untitled0.ipynb

@@ -0,0 +1,322 @@
+{
+ "metadata": {
+  "name": "",
+  "signature": "sha256:5c99106a58fdfec14e71afe805a522f7a3f434845e28ce911f0640049674ed28"
+ },
+ "nbformat": 3,
+ "nbformat_minor": 0,
+ "worksheets": [
+  {
+   "cells": [
+    {
+     "cell_type": "heading",
+     "level": 1,
+     "metadata": {},
+     "source": [
+      "Fuck me I am great"
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "this test\n"
+     ]
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": []
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "test\n",
+      "-\n",
+      "\n",
+      "testtwp\n",
+      "--\n",
+      "\n",
+      "\n",
+      "# One\n",
+      ">this is a big test asdf asdf asd fasd fasd;fj sadf;lkjas df;kasdj f;lasdkfj asd;lkfj asd;lkfj asd;lfkja sdf;ojasd f;lkasdj f;alsdkfj das;lkfjasdf; asdfkj; asf\n",
+      "\n",
+      "\n",
+      "Here is some text.\n",
+      "\n",
+      "    def this_is_code():\n",
+      "       pass\n",
+      "       </code>\n",
+      "       \n",
+      "       \n",
+      "*italic*\n",
+      "**bold**\n",
+      "\n",
+      "##Two\n",
+      "###Three\n",
+      "####Four\n",
+      "#####Five\n",
+      "######Six"
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [],
+     "language": "python",
+     "metadata": {},
+     "outputs": [
+      {
+       "html": [
+        "<style>\n",
+        "    div.cell{\n",
+        "        width: 850px;\n",
+        "        margin-left: 0% !important;\n",
+        "        margin-right: auto;\n",
+        "    }\n",
+        "    div.text_cell code {\n",
+        "        background: #F6F6F9;\n",
+        "        color: #0000FF;\n",
+        "   }\n",
+        "    h1 {\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "\t}\n",
+        "\t\n",
+        "    div.input_area {\n",
+        "        background: #F6F6F9;\n",
+        "        border: 1px solid #586e75;\n",
+        "    }\n",
+        "\n",
+        "    .text_cell_render h1 {\n",
+        "        font-weight: 200;\n",
+        "        font-size: 36pt;\n",
+        "        line-height: 100%;\n",
+        "        color:#c76c0c;\n",
+        "        margin-bottom: 0.5em;\n",
+        "        margin-top: 1em;\n",
+        "        display: block;\n",
+        "        white-space: wrap;\n",
+        "    } \n",
+        "    h2 {\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "        text-indent:1em;\n",
+        "    }\n",
+        "    .text_cell_render h2 {\n",
+        "        font-weight: 200;\n",
+        "        font-size: 20pt;\n",
+        "        font-style: italic;\n",
+        "        line-height: 100%;\n",
+        "        color:#c76c0c;\n",
+        "        margin-bottom: 1.5em;\n",
+        "        margin-top: 0.5em;\n",
+        "        display: block;\n",
+        "        white-space: nowrap;\n",
+        "    } \n",
+        "    h3 {\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "    }\n",
+        "    .text_cell_render h3 {\n",
+        "        font-weight: 300;\n",
+        "        font-size: 18pt;\n",
+        "        line-height: 100%;\n",
+        "        color:#d77c0c;\n",
+        "        margin-bottom: 0.5em;\n",
+        "        margin-top: 2em;\n",
+        "        display: block;\n",
+        "        white-space: nowrap;\n",
+        "    }\n",
+        "    h4 {\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "    }\n",
+        "    .text_cell_render h4 {\n",
+        "        font-weight: 300;\n",
+        "        font-size: 16pt;\n",
+        "        color:#d77c0c;\n",
+        "        margin-bottom: 0.5em;\n",
+        "        margin-top: 0.5em;\n",
+        "        display: block;\n",
+        "        white-space: nowrap;\n",
+        "    }\n",
+        "    h5 {\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "    }\n",
+        "    .text_cell_render h5 {\n",
+        "        font-weight: 300;\n",
+        "        font-style: normal;\n",
+        "        color: #1d3b84;\n",
+        "        font-size: 16pt;\n",
+        "        margin-bottom: 0em;\n",
+        "        margin-top: 1.5em;\n",
+        "        display: block;\n",
+        "        white-space: nowrap;\n",
+        "    }\n",
+        "    div.text_cell_render{\n",
+        "        font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "        line-height: 135%;\n",
+        "        font-size: 125%;\n",
+        "        width:750px;\n",
+        "        margin-left:auto;\n",
+        "        margin-right:auto;\n",
+        "        text-align:justify;\n",
+        "        text-justify:inter-word;\n",
+        "    }\n",
+        "    div.output_subarea.output_text.output_pyout {\n",
+        "        overflow-x: auto;\n",
+        "        overflow-y: scroll;\n",
+        "        max-height: 300px;\n",
+        "    }\n",
+        "    div.output_subarea.output_stream.output_stdout.output_text {\n",
+        "        overflow-x: auto;\n",
+        "        overflow-y: scroll;\n",
+        "        max-height: 300px;\n",
+        "    }\n",
+        "    code{\n",
+        "      font-size: 70%;\n",
+        "    }\n",
+        "    .rendered_html code{\n",
+        "    background-color: transparent;\n",
+        "    }\n",
+        "    ul{\n",
+        "        margin: 2em;\n",
+        "    }\n",
+        "    ul li{\n",
+        "        padding-left: 0.5em; \n",
+        "        margin-bottom: 0.5em; \n",
+        "        margin-top: 0.5em; \n",
+        "    }\n",
+        "    ul li li{\n",
+        "        padding-left: 0.2em; \n",
+        "        margin-bottom: 0.2em; \n",
+        "        margin-top: 0.2em; \n",
+        "    }\n",
+        "    ol{\n",
+        "        margin: 2em;\n",
+        "    }\n",
+        "    ol li{\n",
+        "        padding-left: 0.5em; \n",
+        "        margin-bottom: 0.5em; \n",
+        "        margin-top: 0.5em; \n",
+        "    }\n",
+        "    ul li{\n",
+        "        padding-left: 0.5em; \n",
+        "        margin-bottom: 0.5em; \n",
+        "        margin-top: 0.2em; \n",
+        "    }\n",
+        "    a:link{\n",
+        "       font-weight: bold;\n",
+        "       color:#447adb;\n",
+        "    }\n",
+        "    a:visited{\n",
+        "       font-weight: bold;\n",
+        "       color: #1d3b84;\n",
+        "    }\n",
+        "    a:hover{\n",
+        "       font-weight: bold;\n",
+        "       color: #1d3b84;\n",
+        "    }\n",
+        "    a:focus{\n",
+        "       font-weight: bold;\n",
+        "       color:#447adb;\n",
+        "    }\n",
+        "    a:active{\n",
+        "       font-weight: bold;\n",
+        "       color:#447adb;\n",
+        "    }\n",
+        "    .rendered_html :link {\n",
+        "       text-decoration: underline; \n",
+        "    }\n",
+        "    .rendered_html :hover {\n",
+        "       text-decoration: none; \n",
+        "    }\n",
+        "    .rendered_html :visited {\n",
+        "      text-decoration: none;\n",
+        "    }\n",
+        "    .rendered_html :focus {\n",
+        "      text-decoration: none;\n",
+        "    }\n",
+        "    .rendered_html :active {\n",
+        "      text-decoration: none;\n",
+        "    }\n",
+        "    .warning{\n",
+        "        color: rgb( 240, 20, 20 )\n",
+        "    } \n",
+        "    hr {\n",
+        "      color: #f3f3f3;\n",
+        "      background-color: #f3f3f3;\n",
+        "      height: 1px;\n",
+        "    }\n",
+        "    blockquote{\n",
+        "      display:block;\n",
+        "      background: #fcfcfc;\n",
+        "      border-left: 5px solid #c76c0c;\n",
+        "      font-family: 'Open sans',verdana,arial,sans-serif;\n",
+        "      width:680px;\n",
+        "      padding: 10px 10px 10px 10px;\n",
+        "      text-align:justify;\n",
+        "      text-justify:inter-word;\n",
+        "      }\n",
+        "      blockquote p {\n",
+        "        margin-bottom: 0;\n",
+        "        line-height: 125%;\n",
+        "        font-size: 100%;\n",
+        "      }\n",
+        "</style>\n",
+        "<script>\n",
+        "    MathJax.Hub.Config({\n",
+        "                        TeX: {\n",
+        "                           extensions: [\"AMSmath.js\"]\n",
+        "                           },\n",
+        "                tex2jax: {\n",
+        "                    inlineMath: [ ['$','$'], [\"\\\\(\",\"\\\\)\"] ],\n",
+        "                    displayMath: [ ['$$','$$'], [\"\\\\[\",\"\\\\]\"] ]\n",
+        "                },\n",
+        "                displayAlign: 'center', // Change this to 'center' to center equations.\n",
+        "                \"HTML-CSS\": {\n",
+        "                    styles: {'.MathJax_Display': {\"margin\": 4}}\n",
+        "                }\n",
+        "        });\n",
+        "</script>\n"
+       ],
+       "metadata": {},
+       "output_type": "pyout",
+       "prompt_number": 1,
+       "text": [
+        "<IPython.core.display.HTML at 0x3c0d470>"
+       ]
+      }
+     ],
+     "prompt_number": 1
+    },
+    {
+     "cell_type": "markdown",
+     "metadata": {},
+     "source": [
+      "#One\n",
+      "test\n",
+      "\n",
+      "## two\n",
+      "test\n",
+      "\n",
+      "## two again\n",
+      "\n",
+      "and more text here\n"
+     ]
+    },
+    {
+     "cell_type": "code",
+     "collapsed": false,
+     "input": [
+      "import sys\n",
+      "import os\n"
+     ],
+     "language": "python",
+     "metadata": {},
+     "outputs": [],
+     "prompt_number": 2
+    }
+   ],
+   "metadata": {}
+  }
+ ]
+}