Wholesale changes to connect chapters together.

I made a lot of changes so that each chapter makes clear that
they are all implementing the same basic bayesian algorithm.

This required a lot of editting, and it doesn't make sense to
try to do that atomically, hence this huge check in.

I made a lot of edits, and haven't copy editted anything. i'm
sure I introduced a lot of problems and discontinuities.

experiments/test1d.py

@@ -0,0 +1,25 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Thu Jun 18 09:16:54 2015
+
+@author: rlabbe
+"""
+
+
+from filterpy.kalman import KalmanFilter
+
+
+
+kf = KalmanFilter(1, 1)
+kf.x[0,0] = 1.
+kf.P = np.ones((1,1))
+kf.H = np.array([[2.]])
+kf.F = np.ones((1,1))
+kf.R = 1
+kf.Q = 0
+
+
+
+kf.predict()
+kf.update(2)
+