PEP-8 compliance
This commit is contained in:
Roger Labbe committed
1 parent
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commit
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1 file changed
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@@ -1,7 +1,7 @@
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{
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"metadata": {
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"name": "",
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"signature": "sha256:26a72ead7479bc0a3d34d1516bcea91514ebd0335f33730b27a5299b7d7a8f0b"
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"signature": "sha256:85df0fc94fc4635a6e5ff492b47171d902e6302afab1b362a6d0272e085fd392"
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},
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"nbformat": 3,
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"nbformat_minor": 0,
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@@ -32,7 +32,7 @@
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"from __future__ import division, print_function\n",
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"import matplotlib.pyplot as plt\n",
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"import sys\n",
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"sys.path.insert(0,'../code') # allow us to format the book\n",
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"sys.path.insert(0, '../code') # allow us to format the book\n",
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"import book_format\n",
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"book_format.load_style()"
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],
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@@ -261,7 +261,7 @@
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"output_type": "pyout",
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"prompt_number": 1,
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"text": [
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"<IPython.core.display.HTML at 0x7fb742f517b8>"
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"<IPython.core.display.HTML at 0x7f9d3d7a04e0>"
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]
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}
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],
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@@ -485,34 +485,33 @@
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" that discretizes that equation.\n",
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" \n",
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" \n",
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" Example:\n",
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" -------\n",
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" **Example**::\n",
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" \n",
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" Given y'' + y = 2u(t), we create the continuous state model of\n",
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" Given y'' + y = 2u(t), we create the continuous state model of\n",
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" \n",
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" x' = | 0 1| * x + |0|*u(t)\n",
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" |-1 0| |2|\n",
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" x' = | 0 1| * x + |0|*u(t)\n",
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" |-1 0| |2|\n",
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" \n",
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" and a time step of 0.1:\n",
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" and a time step of 0.1:\n",
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" \n",
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" \n",
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" >>> F = np.array([[0,1],[-1,0]], dtype=float)\n",
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" >>> G = np.array([[0.],[2.]])\n",
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" >>> phi, Q = van_loan_discretization(F, G, 0.1)\n",
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" >>> F = np.array([[0,1],[-1,0]], dtype=float)\n",
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" >>> G = np.array([[0.],[2.]])\n",
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" >>> phi, Q = van_loan_discretization(F, G, 0.1)\n",
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" \n",
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" >>> phi\n",
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" array([[ 0.99500417, 0.09983342],\n",
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" [-0.09983342, 0.99500417]])\n",
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" >>> phi\n",
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" array([[ 0.99500417, 0.09983342],\n",
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" [-0.09983342, 0.99500417]])\n",
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" \n",
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" >>> Q\n",
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" array([[ 0.00133067, 0.01993342],\n",
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" [ 0.01993342, 0.39866933]])\n",
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" >>> Q\n",
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" array([[ 0.00133067, 0.01993342],\n",
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" [ 0.01993342, 0.39866933]])\n",
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" \n",
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" (example taken from Brown[2])\n",
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" (example taken from Brown[2])\n",
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" \n",
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" \n",
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" References\n",
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" ----------\n",
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" **References**\n",
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" \n",
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" [1] C. F. van Loan. \"Computing Integrals Involving the Matrix Exponential.\"\n",
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" IEEE Trans. Automomatic Control, AC-23 (3): 395-404 (June 1978)\n",
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" \n",
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@@ -522,7 +521,7 @@
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]
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}
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],
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"prompt_number": 12
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"prompt_number": 2
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},
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{
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"cell_type": "heading",
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@@ -576,13 +575,13 @@
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{
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"metadata": {},
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"output_type": "display_data",
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"png": 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truncated
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"png": 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truncated
|
||||
"text": [
|
||||
"<matplotlib.figure.Figure at 0x7fb742f55dd8>"
|
||||
"<matplotlib.figure.Figure at 0x7f9d2131da90>"
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 2
|
||||
"prompt_number": 3
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
@@ -770,7 +769,7 @@
|
||||
],
|
||||
"metadata": {},
|
||||
"output_type": "pyout",
|
||||
"prompt_number": 3,
|
||||
"prompt_number": 4,
|
||||
"text": [
|
||||
"\u23a1 5 4 3\u23a4 \n",
|
||||
"\u23a2\\Delta{t} \\Delta{t} \\Delta{t} \u23a5 \n",
|
||||
@@ -789,7 +788,7 @@
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 3
|
||||
"prompt_number": 4
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
@@ -824,13 +823,13 @@
|
||||
],
|
||||
"metadata": {},
|
||||
"output_type": "pyout",
|
||||
"prompt_number": 4,
|
||||
"prompt_number": 5,
|
||||
"text": [
|
||||
"[\\Delta{t}\u22c5\\Phi_s]"
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 4
|
||||
"prompt_number": 5
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
@@ -864,7 +863,7 @@
|
||||
],
|
||||
"metadata": {},
|
||||
"output_type": "pyout",
|
||||
"prompt_number": 13,
|
||||
"prompt_number": 6,
|
||||
"text": [
|
||||
"\u23a1 3 2\u23a4 \n",
|
||||
"\u23a2\\Delta{t} \\Delta{t} \u23a5 \n",
|
||||
@@ -878,7 +877,7 @@
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 13
|
||||
"prompt_number": 6
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
@@ -915,13 +914,12 @@
|
||||
"collapsed": false,
|
||||
"input": [
|
||||
"var=symbols('sigma^2_v')\n",
|
||||
"v = Matrix([[dt**2/2],[dt]])\n",
|
||||
"\n",
|
||||
"v = Matrix([[dt**2/2], [dt]])\n",
|
||||
"\n",
|
||||
"Q = v * var * v.T\n",
|
||||
"\n",
|
||||
"# factor variance out of the matrix to make it more readable\n",
|
||||
"Q = Q/var\n",
|
||||
"Q = Q / var\n",
|
||||
"sympy.MatMul(Q, var)"
|
||||
],
|
||||
"language": "python",
|
||||
@@ -933,7 +931,7 @@
|
||||
],
|
||||
"metadata": {},
|
||||
"output_type": "pyout",
|
||||
"prompt_number": 5,
|
||||
"prompt_number": 7,
|
||||
"text": [
|
||||
"\u23a1 4 3\u23a4 \n",
|
||||
"\u23a2\\Delta{t} \\Delta{t} \u23a5 \n",
|
||||
@@ -947,7 +945,7 @@
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 5
|
||||
"prompt_number": 7
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
@@ -976,13 +974,12 @@
|
||||
"collapsed": false,
|
||||
"input": [
|
||||
"var=symbols('sigma^2_v')\n",
|
||||
"v = Matrix([[dt**2/2],[dt], [1]])\n",
|
||||
"\n",
|
||||
"v = Matrix([[dt**2/2], [dt], [1]])\n",
|
||||
"\n",
|
||||
"Q = v * var * v.T\n",
|
||||
"\n",
|
||||
"# factor variance out of the matrix to make it more readable\n",
|
||||
"Q = Q/var\n",
|
||||
"Q = Q / var\n",
|
||||
"sympy.MatMul(Q, var)"
|
||||
],
|
||||
"language": "python",
|
||||
@@ -994,7 +991,7 @@
|
||||
],
|
||||
"metadata": {},
|
||||
"output_type": "pyout",
|
||||
"prompt_number": 6,
|
||||
"prompt_number": 8,
|
||||
"text": [
|
||||
"\u23a1 4 3 2\u23a4 \n",
|
||||
"\u23a2\\Delta{t} \\Delta{t} \\Delta{t} \u23a5 \n",
|
||||
@@ -1013,7 +1010,7 @@
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 6
|
||||
"prompt_number": 8
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
@@ -1047,14 +1044,14 @@
|
||||
{
|
||||
"metadata": {},
|
||||
"output_type": "pyout",
|
||||
"prompt_number": 7,
|
||||
"prompt_number": 9,
|
||||
"text": [
|
||||
"array([[ 0.33333333, 0.5 ],\n",
|
||||
" [ 0.5 , 1. ]])"
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 7
|
||||
"prompt_number": 9
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
@@ -1068,7 +1065,7 @@
|
||||
{
|
||||
"metadata": {},
|
||||
"output_type": "pyout",
|
||||
"prompt_number": 8,
|
||||
"prompt_number": 10,
|
||||
"text": [
|
||||
"array([[ 0.05 , 0.125 , 0.16666667],\n",
|
||||
" [ 0.125 , 0.33333333, 0.5 ],\n",
|
||||
@@ -1076,7 +1073,7 @@
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 8
|
||||
"prompt_number": 10
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
@@ -1097,20 +1094,20 @@
|
||||
{
|
||||
"metadata": {},
|
||||
"output_type": "pyout",
|
||||
"prompt_number": 9,
|
||||
"prompt_number": 11,
|
||||
"text": [
|
||||
"array([[ 0.25, 0.5 ],\n",
|
||||
" [ 0.5 , 1. ]])"
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 9
|
||||
"prompt_number": 11
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"collapsed": false,
|
||||
"input": [
|
||||
"common.Q_discrete_white_noise(3,var=1.)"
|
||||
"common.Q_discrete_white_noise(3, var=1.)"
|
||||
],
|
||||
"language": "python",
|
||||
"metadata": {},
|
||||
@@ -1118,7 +1115,7 @@
|
||||
{
|
||||
"metadata": {},
|
||||
"output_type": "pyout",
|
||||
"prompt_number": 10,
|
||||
"prompt_number": 12,
|
||||
"text": [
|
||||
"array([[ 0.25, 0.5 , 0.5 ],\n",
|
||||
" [ 0.5 , 1. , 1. ],\n",
|
||||
@@ -1126,7 +1123,7 @@
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 10
|
||||
"prompt_number": 12
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
@@ -1149,7 +1146,7 @@
|
||||
{
|
||||
"metadata": {},
|
||||
"output_type": "pyout",
|
||||
"prompt_number": 11,
|
||||
"prompt_number": 13,
|
||||
"text": [
|
||||
"array([[ 1.56250000e-08, 7.81250000e-07, 2.08333333e-05],\n",
|
||||
" [ 7.81250000e-07, 4.16666667e-05, 1.25000000e-03],\n",
|
||||
@@ -1157,7 +1154,7 @@
|
||||
]
|
||||
}
|
||||
],
|
||||
"prompt_number": 11
|
||||
"prompt_number": 13
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
|
||||
Reference in new issue
Block a user