Update 11-Extended-Kalman-Filters.ipynb

Include the current x and y states into the jacobian matrix calculations.
2020-10-27 15:53:22 -04:00 · 2020-10-27 15:53:22 -04:00 · d024acb311
commit d024acb311
parent 24b9fb3cf7
1 changed files with 2 additions and 0 deletions
--- 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",