Adjusted to use upper case x for filter state.

05_Kalman_Filters/Kalman_Filters.ipynb

@@ -275,7 +275,7 @@
      "cell_type": "markdown",
      "metadata": {},
      "source": [
-      "Now that we understand the histogram filter and Gaussians we are prepared to implement a 1D Kalman filter. We will do this exactly as we did the histogram filter - rather than going into the theory we will just develop the code step by step. But first, let's set the book style."
+      "Now that we understand the histogram filter and Gaussians we are prepared to implement a 1D Kalman filter. We will do this exactly as we did the histogram filter - rather than going into the theory we will just develop the code step by step."
      ]
     },
     {
@@ -2331,25 +2331,6 @@
       "\n",
       "If you understand this, you will be able to understand multidimensional Kalman filters and the various extensions that have been make on them. If you do not fully understand this, I strongly suggest rereading this chapter. Try implementing the filter from scratch, just by looking at the equations and reading the text. Change the constants. Maybe try to implement a different tracking problem, like tracking stock prices. Experimentation will build your intuition and understanding of how these marvelous filters work."
      ]
-    },
-    {
-     "cell_type": "code",
-     "collapsed": false,
-     "input": [],
-     "language": "python",
-     "metadata": {},
-     "outputs": [],
-     "prompt_number": 33
-    },
-    {
-     "cell_type": "markdown",
-     "metadata": {},
-     "source": [
-      "**author notes**:\n",
-      "    clean up the code - same stuff duplicated over and over - write a 'clean implementation' at the end.\n",
-      "    \n",
-      "    "
-     ]
     }
    ],
    "metadata": {}