From 99193f7e266b223e14e723302d292cf649bcda49 Mon Sep 17 00:00:00 2001 From: Roger Labbe Date: Thu, 11 May 2017 13:20:37 -0700 Subject: [PATCH] this was just in text, but I used self.W[i], and it should have been self.Wc[i]. --- 10-Unscented-Kalman-Filter.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/10-Unscented-Kalman-Filter.ipynb b/10-Unscented-Kalman-Filter.ipynb index 105511d..ecd34e1 100644 --- a/10-Unscented-Kalman-Filter.ipynb +++ b/10-Unscented-Kalman-Filter.ipynb @@ -2449,7 +2449,7 @@ " # compute cross variance of the state and the measurements\n", " Pxz = np.zeros((self._dim_x, self._dim_z))\n", " for i in range(self._num_sigmas):\n", - " Pxz += self.W[i] * np.outer(sigmas_f[i] - self.xp,\n", + " Pxz += self.Wc[i] * np.outer(sigmas_f[i] - self.xp,\n", " sigmas_h[i] - zp)\n", "\n", " K = dot(Pxz, inv(Pz)) # Kalman gain\n",