daviddoji/Kalman-and-Bayesian-Filters-in-Python
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Wording changes.

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This commit is contained in:
Roger Labbe
2016-11-02 08:38:18 -07:00
parent 55d73b21de
commit 83f6795f72
13 changed files with 4176 additions and 553 deletions
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23
code/mkf_internal.py
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@@ -374,7 +374,7 @@ def plot_3_covariances():
plt.gca().grid(b=False)
plt.gca().set_xticks([0,1,2,3,4])
plot_covariance_ellipse((2, 7), cov=P, facecolor='g', alpha=0.2,
title='|2 0|\n|0 2|', std=[1,2,3], axis_equal=False)
title='|2 0|\n|0 2|', std=[3], axis_equal=False)
plt.ylim((0, 15))
plt.gca().set_aspect('equal', adjustable='box')
@@ -385,7 +385,7 @@ def plot_3_covariances():
plt.ylim((0, 15))
plt.gca().set_aspect('equal', adjustable='box')
plot_covariance_ellipse((2, 7), P, facecolor='g', alpha=0.2,
std=[1,2,3],axis_equal=False, title='|2 0|\n|0 6|')
std=[3],axis_equal=False, title='|2 0|\n|0 6|')
plt.subplot(133)
plt.gca().grid(b=False)
@@ -394,8 +394,8 @@ def plot_3_covariances():
plt.ylim((0, 15))
plt.gca().set_aspect('equal', adjustable='box')
plot_covariance_ellipse((2, 7), P, facecolor='g', alpha=0.2,
axis_equal=False,std=[1,2,3],
title='|2 1.2|\n|1.2 2|')
axis_equal=False,std=[3],
title='|2.0 1.2|\n|1.2 2.0|')
plt.tight_layout()
plt.show()
@@ -450,15 +450,16 @@ def plot_track(ps, actual, zs, cov, std_scale=1,
plt.xlim((0,count))
plt.title(title)
plt.show()
if plot_P:
with interactive_plot():
ax = plt.subplot(121)
ax.set_title("$\sigma^2_x$ (pos variance)")
plot_covariance(cov, (0, 0))
ax = plt.subplot(122)
ax.set_title("$\sigma^2_\dot{x}$ (vel variance)")
plot_covariance(cov, (1, 1))
ax = plt.subplot(121)
ax.set_title("$\sigma^2_x$ (pos variance)")
plot_covariance(cov, (0, 0))
ax = plt.subplot(122)
ax.set_title("$\sigma^2_\dot{x}$ (vel variance)")
plot_covariance(cov, (1, 1))
plt.show()
def plot_covariance(P, index=(0, 0)):