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Moved all code to \code subdirectory.

Browse Source 
All these changes are to make the book easier to run from
cloud.sagemath.org. You can share individual notebooks there,
but not entire projects.By putting everything under code at the
user only needs to grab that one directory.

More on sagemath later, if I decide to pursue that as a delivery
mechanism...
This commit is contained in:
Roger Labbe 2015-07-13 23:16:04 -07:00
parent 069982f128
commit aba6a9dcf7
24 changed files with 882 additions and 745 deletions
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82
01-g-h-filter.ipynb
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02-Discrete-Bayes.ipynb
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03-Gaussians.ipynb
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04-One-Dimensional-Kalman-Filters.ipynb
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05-Multivariate-Gaussians.ipynb
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06-Multivariate-Kalman-Filters.ipynb
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07-Kalman-Filter-Math.ipynb
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08-Designing-Kalman-Filters.ipynb
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09-Nonlinear-Filtering.ipynb
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10-Unscented-Kalman-Filter.ipynb
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11-Extended-Kalman-Filters.ipynb
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12-Particle-Filters.ipynb
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13-Smoothing.ipynb
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14-Adaptive-Filtering.ipynb
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Appendix-A-Installation.ipynb
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@ -39,7 +39,7 @@
"@import url('http://fonts.googleapis.com/css?family=Arimo');\n",
"\n",
" div.cell{\n",
" width: 850px;\n",
" width: 900px;\n",
" margin-left: 0% !important;\n",
" margin-right: auto;\n",
" }\n",
@ -69,40 +69,44 @@
" margin-top: 1em;\n",
" display: block;\n",
" white-space: wrap;\n",
" text-align: left;\n",
" } \n",
" h2 {\n",
" font-family: 'Open sans',verdana,arial,sans-serif;\n",
" text-align: left;\n",
" }\n",
" .text_cell_render h2 {\n",
" font-weight: 200;\n",
" font-size: 20pt;\n",
" font-size: 16pt;\n",
" font-style: italic;\n",
" line-height: 100%;\n",
" color:#c76c0c;\n",
" margin-bottom: 0.5em;\n",
" margin-top: 1.5em;\n",
" display: block;\n",
" white-space: nowrap;\n",
" white-space: wrap;\n",
" text-align: left;\n",
" } \n",
" h3 {\n",
" font-family: 'Open sans',verdana,arial,sans-serif;\n",
" }\n",
" .text_cell_render h3 {\n",
" font-weight: 300;\n",
" font-size: 18pt;\n",
" font-weight: 200;\n",
" font-size: 14pt;\n",
" line-height: 100%;\n",
" color:#d77c0c;\n",
" margin-bottom: 0.5em;\n",
" margin-top: 2em;\n",
" display: block;\n",
" white-space: nowrap;\n",
" white-space: wrap;\n",
" text-align: left;\n",
" }\n",
" h4 {\n",
" font-family: 'Open sans',verdana,arial,sans-serif;\n",
" }\n",
" .text_cell_render h4 {\n",
" font-weight: 300;\n",
" font-size: 16pt;\n",
" font-weight: 100;\n",
" font-size: 14pt;\n",
" color:#d77c0c;\n",
" margin-bottom: 0.5em;\n",
" margin-top: 0.5em;\n",
@ -113,22 +117,19 @@
" font-family: 'Open sans',verdana,arial,sans-serif;\n",
" }\n",
" .text_cell_render h5 {\n",
" font-weight: 300;\n",
" font-weight: 200;\n",
" font-style: normal;\n",
" color: #1d3b84;\n",
" font-size: 16pt;\n",
" margin-bottom: 0em;\n",
" margin-top: 1.5em;\n",
" margin-top: 0.5em;\n",
" display: block;\n",
" white-space: nowrap;\n",
" }\n",
" div.text_cell_render{\n",
" font-family: 'Arimo',verdana,arial,sans-serif;\n",
" line-height: 135%;\n",
" font-size: 125%;\n",
" width:750px;\n",
" margin-left:auto;\n",
" margin-right:auto;\n",
" line-height: 125%;\n",
" font-size: 120%;\n",
" text-align:justify;\n",
" text-justify:inter-word;\n",
" }\n",
@ -142,6 +143,11 @@
" overflow-y: scroll;\n",
" max-height: 50000px;\n",
" }\n",
" div.output_wrapper{\n",
" margin-top:0.2em;\n",
" margin-bottom:0.2em;\n",
"}\n",
"\n",
" code{\n",
" font-size: 70%;\n",
" }\n",
@ -244,6 +250,10 @@
" },\n",
" displayAlign: 'center', // Change this to 'center' to center equations.\n",
" \"HTML-CSS\": {\n",
" scale:85,\n",
" availableFonts: [\"Neo-Euler\"],\n",
" preferredFont: \"Neo-Euler\",\n",
" webFont: \"Neo-Euler\",\n",
" styles: {'.MathJax_Display': {\"margin\": 4}}\n",
" }\n",
" });\n",
@ -261,10 +271,13 @@
"source": [
"#format the book\n",
"%matplotlib inline\n",
"%load_ext autoreload\n",
"%autoreload 2 \n",
"from __future__ import division, print_function\n",
"import matplotlib.pyplot as plt\n",
"import book_format\n",
"book_format.load_style()"
"import sys\n",
"sys.path.insert(0,'./code')\n",
"from book_format import load_style, set_figsize, figsize\n",
"load_style()"
]
},
{

25
Appendix-B-Symbols-and-Notations.ipynb
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@ -23,7 +23,7 @@
"@import url('http://fonts.googleapis.com/css?family=Arimo');\n",
"\n",
" div.cell{\n",
" width: 850px;\n",
" width: 900px;\n",
" margin-left: 0% !important;\n",
" margin-right: auto;\n",
" }\n",
@ -53,9 +53,11 @@
" margin-top: 1em;\n",
" display: block;\n",
" white-space: wrap;\n",
" text-align: left;\n",
" } \n",
" h2 {\n",
" font-family: 'Open sans',verdana,arial,sans-serif;\n",
" text-align: left;\n",
" }\n",
" .text_cell_render h2 {\n",
" font-weight: 200;\n",
@ -65,8 +67,9 @@
" color:#c76c0c;\n",
" margin-bottom: 0.5em;\n",
" margin-top: 1.5em;\n",
" display: inline;\n",
" display: block;\n",
" white-space: wrap;\n",
" text-align: left;\n",
" } \n",
" h3 {\n",
" font-family: 'Open sans',verdana,arial,sans-serif;\n",
@ -79,7 +82,8 @@
" margin-bottom: 0.5em;\n",
" margin-top: 2em;\n",
" display: block;\n",
" white-space: nowrap;\n",
" white-space: wrap;\n",
" text-align: left;\n",
" }\n",
" h4 {\n",
" font-family: 'Open sans',verdana,arial,sans-serif;\n",
@ -110,9 +114,6 @@
" font-family: 'Arimo',verdana,arial,sans-serif;\n",
" line-height: 125%;\n",
" font-size: 120%;\n",
" width:740px;\n",
" margin-left:auto;\n",
" margin-right:auto;\n",
" text-align:justify;\n",
" text-justify:inter-word;\n",
" }\n",
@ -234,6 +235,9 @@
" displayAlign: 'center', // Change this to 'center' to center equations.\n",
" \"HTML-CSS\": {\n",
" scale:85,\n",
" availableFonts: [\"Neo-Euler\"],\n",
" preferredFont: \"Neo-Euler\",\n",
" webFont: \"Neo-Euler\",\n",
" styles: {'.MathJax_Display': {\"margin\": 4}}\n",
" }\n",
" });\n",
@ -251,10 +255,13 @@
"source": [
"#format the book\n",
"%matplotlib inline\n",
"%load_ext autoreload\n",
"%autoreload 2 \n",
"from __future__ import division, print_function\n",
"import matplotlib.pyplot as plt\n",
"import book_format\n",
"book_format.load_style()"
"import sys\n",
"sys.path.insert(0,'./code')\n",
"from book_format import load_style, set_figsize, figsize\n",
"load_style()"
]
},
{

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Appendix-C-Walking-Through-KF-Code.ipynb
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@ -16,7 +16,7 @@
},
{
"cell_type": "code",
"execution_count": 4,
"execution_count": 1,
"metadata": {
"collapsed": false
},
@ -30,7 +30,7 @@
"@import url('http://fonts.googleapis.com/css?family=Arimo');\n",
"\n",
" div.cell{\n",
" width: 850px;\n",
" width: 900px;\n",
" margin-left: 0% !important;\n",
" margin-right: auto;\n",
" }\n",
@ -60,9 +60,11 @@
" margin-top: 1em;\n",
" display: block;\n",
" white-space: wrap;\n",
" text-align: left;\n",
" } \n",
" h2 {\n",
" font-family: 'Open sans',verdana,arial,sans-serif;\n",
" text-align: left;\n",
" }\n",
" .text_cell_render h2 {\n",
" font-weight: 200;\n",
@ -72,8 +74,9 @@
" color:#c76c0c;\n",
" margin-bottom: 0.5em;\n",
" margin-top: 1.5em;\n",
" display: inline;\n",
" display: block;\n",
" white-space: wrap;\n",
" text-align: left;\n",
" } \n",
" h3 {\n",
" font-family: 'Open sans',verdana,arial,sans-serif;\n",
@ -86,7 +89,8 @@
" margin-bottom: 0.5em;\n",
" margin-top: 2em;\n",
" display: block;\n",
" white-space: nowrap;\n",
" white-space: wrap;\n",
" text-align: left;\n",
" }\n",
" h4 {\n",
" font-family: 'Open sans',verdana,arial,sans-serif;\n",
@ -117,9 +121,6 @@
" font-family: 'Arimo',verdana,arial,sans-serif;\n",
" line-height: 125%;\n",
" font-size: 120%;\n",
" width:740px;\n",
" margin-left:auto;\n",
" margin-right:auto;\n",
" text-align:justify;\n",
" text-justify:inter-word;\n",
" }\n",
@ -241,6 +242,9 @@
" displayAlign: 'center', // Change this to 'center' to center equations.\n",
" \"HTML-CSS\": {\n",
" scale:85,\n",
" availableFonts: [\"Neo-Euler\"],\n",
" preferredFont: \"Neo-Euler\",\n",
" webFont: \"Neo-Euler\",\n",
" styles: {'.MathJax_Display': {\"margin\": 4}}\n",
" }\n",
" });\n",
@ -250,7 +254,7 @@
"<IPython.core.display.HTML object>"
]
},
"execution_count": 4,
"execution_count": 1,
"metadata": {},
"output_type": "execute_result"
}
@ -258,10 +262,13 @@
"source": [
"#format the book\n",
"%matplotlib inline\n",
"%load_ext autoreload\n",
"%autoreload 2 \n",
"from __future__ import division, print_function\n",
"import matplotlib.pyplot as plt\n",
"import book_format\n",
"book_format.load_style()"
"import sys\n",
"sys.path.insert(0,'./code')\n",
"from book_format import load_style, set_figsize, figsize\n",
"load_style()"
]
},
{

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Appendix-D-HInfinity-Filters.ipynb
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Appendix-E-Ensemble-Kalman-Filters.ipynb
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Appendix-G-Designing-Nonlinear-Kalman-Filters.ipynb
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README.md
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@ -104,14 +104,16 @@ Installation of all of these packages is described in the Installation appendix,
Provided Libraries and Modules
-----
I am writing an open source bayesian filtering Python library called **FilterPy**. It is available on github at (https://github.com/rlabbe/filterpy). To ensure that you have the latest release you will want to grab a copy from github, and follow your Python installation's instructions for adding it to the Python search path.
I have also made the project available on PyPi, the Python Package Index. I will be honest, I am not updating this as fast as I am changing the code in the library. That will change as the library and this book mature. To install from PyPi, at the command line issue the command
I am writing an open source Bayesian filtering Python library called **FilterPy**. I have made the project available on PyPi, the Python Package Index. To install from PyPi, at the command line issue the command
pip install filterpy
If you do not have pip, you may follow the instructions here: https://pip.pypa.io/en/latest/installing.html.
I recommend using pip for the install, as I try hard (sometimes I fail) to make good, safe releases to it. Whereas on github (where the project resides) I'll check in any tiny change at any time; there is no guarantee that the latest on github is a version you really want to have.
FilterPy is hosted github at (https://github.com/rlabbe/filterpy). If you want the bleading edge release you will want to grab a copy from github, and follow your Python installation's instructions for adding it to the Python search path. However, it is quite possible that it will not be compatible with the notebooks in this project. I try to make sure the notebooks are in sync with the PyPi hosted version.
Code that is specific to the book is stored with the book in the subdirectory ./*code*. This code is in a state of flux; I do not wish to document it here yet. I do mention in the book when I use code from this directory, so it should not be a mystery.
@ -119,10 +121,10 @@ In the *code* subdirectory there are Python files with a name like *xxx*_interna
Some chapters introduce functions that are useful for the rest of the book. Those functions are initially defined within the Notebook itself, but the code is also stored in a Python file that is imported if needed in later chapters. I do document when I do this where the function is first defined, but this is still a work in progress. I try to avoid this because then I always face the issue of code in the directory becoming out of sync with the code in the book. However, IPython Notebook does not give us a way to refer to code cells in other notebooks, so this is the only mechanism I know of to share functionality across notebooks.
There is an undocumented directory called **exp**. This is where I write and test code prior to putting it in the book. There is some interesting stuff in there, and feel free to look at it. As the book evolves I plan to create examples and projects, and a lot of this material will end up there. Small experiments will eventually just be deleted. If you are just interested in reading the book you can safely ignore this directory.
There is an undocumented directory called **experiments**. This is where I write and test code prior to putting it in the book. There is some interesting stuff in there, and feel free to look at it. As the book evolves I plan to create examples and projects, and a lot of this material will end up there. Small experiments will eventually just be deleted. If you are just interested in reading the book you can safely ignore this directory.
The directory **styles** contains a css file containing the style guide for the book. The default look and feel of IPython Notebook is rather plain. Work is being done on this. I have followed the examples set by books such as [Probabilistic Programming and Bayesian Methods for Hackers](http://nbviewer.ipython.org/github/CamDavidsonPilon/Probabilistic-Programming-and-Bayesian-Methods-for-Hackers/blob/master/Chapter1_Introduction/Chapter1.ipynb). I have also been very influenced by Professor Lorena Barba's fantastic work, [available here](https://github.com/barbagroup/CFDPython). I owe all of my look and feel to the work of these projects.
The directory **code** contains a css file containing the style guide for the book. The default look and feel of IPython Notebook is rather plain. Work is being done on this. I have followed the examples set by books such as [Probabilistic Programming and Bayesian Methods for Hackers](http://nbviewer.ipython.org/github/CamDavidsonPilon/Probabilistic-Programming-and-Bayesian-Methods-for-Hackers/blob/master/Chapter1_Introduction/Chapter1.ipynb). I have also been very influenced by Professor Lorena Barba's fantastic work, [available here](https://github.com/barbagroup/CFDPython). I owe all of my look and feel to the work of these projects.
License
-----

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@ -96,7 +96,7 @@ def _decode_dict(data):
return rv
def load_style(directory = '.', name='/styles/custom2.css'):
def load_style(directory = '.', name='/code/custom.css'):
if sys.version_info[0] >= 3:
s = json.load(open(directory + "/code/538.json"))
else:

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code/nonlinear_internal.py
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@ -12,7 +12,7 @@ import numpy as np
def plot1():
P = np.array([[6, 2.5], [2.5, .6]])
stats.plot_covariance_ellipse((10, 2), P, facecolor='g', alpha=0.2)