daviddoji/Kalman-and-Bayesian-Filters-in-Python
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Edit to fit on 6x9 book.

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Somewhat arbitrary, but I want the code to be readable on
narrow paper than 8.5x11.
This commit is contained in:
Roger Labbe
2015-07-25 23:46:59 -07:00
parent 82f4e1569b
commit 925498a19e
21 changed files with 1445 additions and 1533 deletions
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27
code/book_plots.py
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@@ -58,6 +58,27 @@ def set_limits(x, y):
plt.gca().set_xlim(x)
plt.gca().set_ylim(y)
def plot_predictions(p, rng=None):
if rng is None:
rng = range(len(p))
plt.scatter(rng, p, marker='v', s=40, edgecolor='r',
facecolor='None', lw=2, label='prediction')
def plot_kf_output(xs, filter_xs, zs, title=None, aspect_equal=True):
plot_filter(filter_xs[:, 0])
plot_track(xs[:, 0])
if zs is not None:
plot_measurements(zs)
show_legend()
set_labels(title=title, x='meters', y='time (sec)')
if aspect_equal:
plt.gca().set_aspect('equal')
plt.xlim((-1, len(xs)))
plt.show()
def plot_measurements(xs, ys=None, color='k', lw=2, label='Measurements',
lines=False, **kwargs):
@@ -84,9 +105,11 @@ def plot_measurements(xs, ys=None, color='k', lw=2, label='Measurements',
plt.plot(xs, color=color, lw=lw, ls='--', label=label, **kwargs)
else:
if ys is not None:
plt.scatter(xs, ys, edgecolor=color, facecolor='none', lw=2, label=label, **kwargs)
plt.scatter(xs, ys, edgecolor=color, facecolor='none',
lw=2, label=label, **kwargs)
else:
plt.scatter(range(len(xs)), xs, edgecolor=color, facecolor='none', lw=2, label=label, **kwargs)
plt.scatter(range(len(xs)), xs, edgecolor=color, facecolor='none',
lw=2, label=label, **kwargs)
def plot_residual_limits(Ps, stds=1.):