From 91f8010bee8cd7e07bdca338ecd90c3dd7735e92 Mon Sep 17 00:00:00 2001 From: Roger Labbe Date: Sat, 23 May 2020 12:19:03 -0700 Subject: [PATCH] Extra parameter in call #337 I removed dt from plot_track because it wasn't used, but didn't update the notebook. Also, for some reason plot_track_ellipses was deleted, causing another notebook error. --- kf_book/mkf_internal.py | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/kf_book/mkf_internal.py b/kf_book/mkf_internal.py index 4ce5fb5..e2384a1 100644 --- a/kf_book/mkf_internal.py +++ b/kf_book/mkf_internal.py @@ -62,6 +62,25 @@ def zs_var_275(): return np.array([xs, zs]).T +def plot_track_ellipses(N, zs, ps, cov, title): + #bp.plot_measurements(range(1,N + 1), zs) + #plt.plot(range(1, N + 1), ps, c='b', lw=2, label='filter') + plt.title(title) + + for i,p in enumerate(cov): + plot_covariance_ellipse( + (i+1, ps[i]), cov=p, variance=4, + axis_equal=False, ec='g', alpha=0.5) + + if i == len(cov)-1: + s = ('$\sigma^2_{pos} = %.2f$' % p[0,0]) + plt.text (20, 5, s, fontsize=18) + s = ('$\sigma^2_{vel} = %.2f$' % p[1, 1]) + plt.text (20, 0, s, fontsize=18) + plt.ylim(-5, 20) + plt.gca().set_aspect('equal') + + def plot_gaussian_multiply(): xs = np.arange(-5, 10, 0.1)