Copy editing.

code/custom.css

@@ -184,19 +184,15 @@
         margin-top: 0.2em; 
     }
     a:link{
-       font-weight: bold;
        color:#447adb;
     }
     a:visited{
-       font-weight: bold;
        color: #1d3b84;
     }
     a:hover{
-       font-weight: bold;
        color: #1d3b84;
     }
     a:focus{
-       font-weight: bold;
        color:#447adb;
     }
     a:active{

code/kf_internal.py

@@ -36,7 +36,6 @@ def plot_dog_track(xs, dog, measurement_var, process_var):
 
 
 def print_gh(predict, update, z):
-    print(predict, update, z)
     predict_template = '{: 7.3f} {: 8.3f}'
     update_template = '{:.3f}\t{: 7.3f} {: 7.3f}'
 
@@ -45,7 +44,6 @@ def print_gh(predict, update, z):
 
 
 def print_variance(positions):
-    print('Variance:')
     for i in range(0, len(positions), 5):
         print('\t{:.4f} {:.4f} {:.4f} {:.4f} {:.4f}'.format(
                 *[v[1] for v in positions[i:i+5]]))

code/ukf_internal.py

@@ -258,7 +258,7 @@ def plot_sigma_points():
     plot_covariance_ellipse(x, P, facecolor='g', alpha=0.2, variance=[1, 4])
     plt.title('alpha=1')
     plt.show()
-    print(sum(Wc0))
+
 
 def plot_radar(xs, t, plot_x=True, plot_vel=True, plot_alt=True):
     xs = np.asarray(xs)
@@ -267,16 +267,19 @@ def plot_radar(xs, t, plot_x=True, plot_vel=True, plot_alt=True):
         plt.plot(t, xs[:, 0]/1000.)
         plt.xlabel('time(sec)')
         plt.ylabel('position(km)')
+        plt.tight_layout()
     if plot_vel:
         plt.figure()
         plt.plot(t, xs[:, 1])
         plt.xlabel('time(sec)')
         plt.ylabel('velocity')
+        plt.tight_layout()
     if plot_alt:
         plt.figure()
         plt.plot(t, xs[:,2])
         plt.xlabel('time(sec)')
         plt.ylabel('altitude')
+        plt.tight_layout()
     plt.show()