From d024acb3115694729f2f5ec9d65388ae75690272 Mon Sep 17 00:00:00 2001
From: Nick-Kou <51099935+Nick-Kou@users.noreply.github.com>
Date: Tue, 27 Oct 2020 15:53:22 -0400
Subject: [PATCH] Update 11-Extended-Kalman-Filters.ipynb

Include the current x and y states into the jacobian matrix calculations.
---
 11-Extended-Kalman-Filters.ipynb | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/11-Extended-Kalman-Filters.ipynb b/11-Extended-Kalman-Filters.ipynb
index 59d28d2..c13b245 100644
--- a/11-Extended-Kalman-Filters.ipynb
+++ b/11-Extended-Kalman-Filters.ipynb
@@ -1146,6 +1146,8 @@
     "\n",
     "    def predict(self, u):\n",
     "        self.x = self.move(self.x, u, self.dt)\n",
+    "        self.subs[self.x_x] = self.x[0, 0]\n",
+    "        self.subs[self.x_y] = self.x[1, 0]\n",
     "\n",
     "        self.subs[self.theta] = self.x[2, 0]\n",
     "        self.subs[self.v] = u[0]\n",