diff --git a/Chapter06_Multivariate_Kalman_Filter/animations.ipynb b/Chapter06_Multivariate_Kalman_Filter/animations.ipynb index 353ffb6..81a9217 100644 --- a/Chapter06_Multivariate_Kalman_Filter/animations.ipynb +++ b/Chapter06_Multivariate_Kalman_Filter/animations.ipynb @@ -1,7 +1,7 @@ { "metadata": { "name": "", - "signature": "sha256:a32831d81465dc05ea4e456df090d3ec8c61f145c0cf2ded40441a9b44157792" + "signature": "sha256:377230da2977ad633520f0c5380f888bbab4cee5610b7edc0e9b2ed30e0ed7b7" }, "nbformat": 3, "nbformat_minor": 0, @@ -243,13 +243,13 @@ ], "metadata": {}, "output_type": "pyout", - "prompt_number": 1, + "prompt_number": 2, "text": [ - "" + "" ] } ], - "prompt_number": 1 + "prompt_number": 2 }, { "cell_type": "code", @@ -336,7 +336,7 @@ "import mkf_internal\n", "import matplotlib.pyplot as plt\n", "from gif_animate import animate\n", - "\n", + "import stats\n", "def mkf_animate(frame):\n", " global ax\n", " plt.cla()\n", @@ -350,7 +350,7 @@ " cov = frame/15.\n", " P = np.array([[2,cov],[cov,2]])\n", " stats.plot_covariance_ellipse((2,7), cov=P, facecolor='g', alpha=0.2, \n", - " title='|2 {:.1f}|\\n|{:.1f} 2|'.format(cov, cov))\n", + " title='|2.0 {:.1f}|\\n|{:.1f} 2.0|'.format(cov, cov))\n", "\n", "fig = plt.figure()\n", "#ax = fig.add_subplot(111, projection='3d')\n", @@ -363,19 +363,19 @@ "metadata": {}, "output_type": "display_data", "text": [ - "" + "" ] }, { "metadata": {}, "output_type": "display_data", - "png": "iVBORw0KGgoAAAANSUhEUgAAAZsAAAGzCAYAAAD5Z7qjAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\nAAALEgAACxIB0t1+/AAAIABJREFUeJzs3XtwXOV9PvBntff7fVfaXclXiJ2fC00cQ8FFLpSbQy6F\ngdSTjE1xEiAmNDQEAilDJ3XLkOJCCIFOLqTBaSAzjQ00QGjsmtjjJjAhgJOU2ES+yNLuau/3+9lz\nfn8IKRaWJVna1V7O85lhsFa7Z78r7dlH55z3/b6KI0eOSCAiImqinlYXQERE3Y9hQ0RETcewISKi\npmPYEBFR0zFsiIio6Rg2RETUdAwb6lqPPfYYVq1a1eoyFt1rr72GVatW4Ve/+lWrSyGapGp1AUTN\npFAopr09k8ngmWeewf/8z//g5MmTAICVK1fi5ptvxoYNG+b9fM899xz279+PN954A5FIBB/96Efx\n0EMPzXt7APDKK6/giSeewDvvvAONRoMPfehDuOuuu7B8+fIFbZdoMfHIhrqaJE0/Z/nQoUN4/PHH\n4ff78bd/+7f4/Oc/j3K5jFtuuQVPP/30vJ/v+9//Pn7xi1/g/e9/P4Azh91c7d+/H5/73OcgCAK+\n9KUv4dOf/jTefPNNbN68GfF4fEHbJlpMPLIhWVq5ciX27NmD3t7eydtuuOEGXHXVVXj00UexadMm\n9PSc/d9iTzzxBHw+HwA05BTet7/9bVitVvzHf/wHjEYjAODiiy/GJz7xCTz11FO48847F/wcRIuB\nRzYkSz6fb0rQAIBOp8P555+PTCaDZDI57+020ttvv40//dM/nQwaADjvvPPgcrnw85//vKHPRdRM\nDBuiUyQSCWi1Wlit1laXAgDo6emBRqM57Xa9Xo/jx49DFMUWVEV09hg2RO/6/e9/jzfeeAMf/vCH\noVarW10OAGDJkiU4fPjwlGtPkUgEoVAI9Xod2Wy2hdURzR3DhghAqVTC3XffDYfD0VbXQf76r/8a\nIyMjeOCBBzA8PIzf/e53uPPOOydPq1UqlRZXSDQ3DBuSPVEU8eUvfxnDw8N49NFH4XK5Wl3SpBtu\nuAGf+MQn8MMf/hBXXXUVrr/+elgsFnz4wx+GJEnQ6/WtLpFoTjgajWTvwQcfxJ49e/DQQw/hQx/6\nUKvLmaKnpwf/+I//iDvuuAPHjx+H0+nE0qVL8bnPfQ5GoxEWi6XVJRLNCcOGZO173/sedu7ciXvv\nvRcf+chHWl3OGTkcDjgcDgBAtVrFr3/9a5x//vktropo7ngajWTrhRdewEMPPYRbb70VN954Y0tq\n2LNnD66++mp8+ctfnvNjvvOd7yCbzeK6665rYmVEjcUjG5Kl3/zmN7jnnnuwdOlSLF++HM8///yU\n7//5n/85nE7nWW933759OHz48OTX77zzDp544gkAwF/+5V/ife9735T753I5nDhxAh6PZ9rtxWIx\n3H777bj88sthtVrx6quv4sUXX8Tg4GBbH4kRvRfDhmTp6NGjEAQBJ06cwN133z3lewqFAjt37pxX\n2OzZswfPPvvs5HaOHDmCw4cPQ6FQwOfznRY2s7WzMRqNsNvt+N73vodcLgefz4fbb78dn/3sZ8+6\nNqJWUhw5cmT65lFEHe6xxx7D448/PuVIQw5ee+013HjjjfjBD36AdevWtbocIgC8ZkNERIuAYUNE\nRE3HsKGupVAoFtziv1PJ9XVT++I1GyIiajoe2RARUdMxbIiIqOkYNtS1HnvssYasltlpXnvtNaxa\ntQq/+tWvWl0K0SRO6qSuNtOF8tdffx3/9V//hTfeeANDQ0Pwer3Yv3//gp5vaGgIO3bswK9//WvU\najWce+65uO2227Bhw4Z5be+Xv/wlfvzjH+Ott95CPB5Hb28vLrnkEtx+++1ts8Ab0VwwbKirnbro\n2Hv993//N55//vnJZZYXOoIrEongU5/6FJRKJT7zmc/AaDTixz/+MT73uc/hu9/9Li6++OKz3uYj\njzyCbDaLj370owgEAvjDH/6Ap59+GgcOHMDu3bthMpkWVDPRYmHYkGx99rOfxd133w21Wo3Nmzdj\nZGRkQdv70Y9+hEwmgx/+8IdYu3YtAOC6667D5ZdfjkcffXReYXPPPffggx/84JTb/H4/HnjgAeza\ntatlDUSJzhav2ZBseTyehi7//Pbbb0Ov108GDQAYDAZcdNFF+M1vfoNkMnnW23xv0ADARRddBAA4\nduzY/IslWmQMG6IGUSgU0Gg0p92u0+kgSVLDwiEejwPAGTtFE7Ujhg1RgyxbtgyZTAahUGjyNkmS\ncOjQIQCY15HNdJ5++mmoVCouMUAdhWFD1CDXX389lEol7rnnHrz99ts4fvw4tm/fjmg0CgCoVCoL\nfo7nnnsOe/bswc0334wlS5YseHtEi4VhQ9QgK1aswD/8wz/gd7/7Ha677jps3LgRr776KrZt2wYA\n0Ov1C9r+oUOHcP/992PDhg24/fbbG1Ey0aLhaDSiBvrEJz6Bj370o3jnnXegVquxevVqPPXUUwCA\nvr6+eW93eHgYt956K8455xx8/etfZ6NN6jgMG6IG0+v1OP/88ye//t///V8YDAacc84589peIpHA\nZz7zGVgsFnznO99Z8BESUSvwNBrRHEUiEVx99dXYuHHjnB/zq1/9CgcPHsRHPvKRaUeqzaZQKODm\nm29GtVrFv//7v8PhcJz1NojaAY9sSLYOHz6Mffv2AQCCwSDy+TyeeOIJAMDq1atx6aWXTrl/rVbD\niRMnZjyF9elPfxrnn38++vr6cOzYMTzzzDPo6+vDHXfcMa8a77rrLvzf//0fbr755tN6nbnd7nlN\nFCVqBYYNydbvf/97fOMb3wDwxx5q3/jGN6BQKPBXf/VXp4XNXKxatQrPPfccYrEYbDYbPvKRj+AL\nX/jCvI9IDh8+DIVCgW9/+9unfe+CCy5g2FDHmDVsXn/9dfzTP/0ThoeHsWzZMjzwwANz6qS7c+dO\nfOtb30KtVsOmTZvwxS9+sSEFEzXKtddei2uvvXbO9w8EAjh8+PCM97nrrrtw1113LbS0SRNHXkSd\nbsZrNtVqFXfccQe2bt2KN954A1dccQW+8IUvzLrRQ4cO4fHHH8fOnTvxk5/8BC+++CJ++tOfNqxo\nIiLqLDOGzbFjx1AqlfCxj30MCoUCW7duxfDwMN55550ZN/ryyy/jyiuvxIoVK+D1enHDDTfgpZde\namjhRETUOc5qNJokSVAoFDh58uSM9ztx4gSWLVuGp556Cl/72tewcuVKHD9+fEGFEp0thUIh2/ko\ncn3d1L5mvGazfPly6PV6PPfcc7jmmmvw5JNPQqlUolQqzbjRUqkEg8GAoaEhhEIhDA4Oolgsnna/\nhbZ0J5rJxz/+cXz84x+X3fvM5/PhZz/7GQDuY9Q4/f39C3r8jGGj0Wjw6KOP4p//+Z/x4IMP4ppr\nrkEgEJh1wSa9Xo9isYj77rsPALBnzx4YDIZp77t69ep5lt4aTqcTu3fvnvfKi63AmhdPJ9bNmhdP\nJ9btdDpx8ODBBW9n1tFoa9euxe7duwEAqVQK//mf/4n3ve99Mz5m6dKlU9qpDw0NYfny5QsslYiI\nOtWs12yOHTuGarWKTCaD7du348/+7M/g8/kmv79582bs2LFjymM2btyIPXv2YGhoCJFIBLt27Tqr\nWddERNRdZj2y2bt3L7773e9CEAQMDg7iX/7lX6Z8PxgMIhAITLntvPPOw2233YYtW7ZAEARs2rSp\nq8Km0079Aax5MXVi3ax58XRq3QulOHLkiNSqJx8ZGem4H7zT6QQw3hyxU7DmxdOJdbPmxdOJdU9c\ns1noAAE24iQioqZj2BARUdMxbIiIqOkYNkRE1HQMGyIiajqGDRERNR3DhoiImo5hQ0RETcewISKi\npmPYEBFR0zFsiIio6Rg2RETUdAwbIiJqOoYNERE1HcOGiIiajmFDRERNx7AhIqKmY9gQEVHTMWyI\niKjpGDZERNR0DBsiImo6hg0RETUdw4aIiJqOYUNERE3HsCEioqZj2BARUdMxbIiIqOkYNkRE1HQM\nGyIiajqGDRERNR3DhoiImo5hQ0RETcewISKipmPYEBFR0zFsiIio6WYNmyNHjmDTpk1Yu3Ytrr76\nauzdu3fWjb722mtYtWoVPvCBD0z+d+zYsYYUTEREnUc12x3uvvtubNy4ET/60Y/wi1/8Atu2bcPP\nf/5z2Gy2GR/n9Xqxf//+hhVKRESda9Yjm2PHjuGqq64CAFx88cXQarUYHR1temFERNQ9Zj2yueSS\nS/Dyyy/j5ptvxi9/+UuYTCace+65s244kUhg/fr1MBgMuP7663HLLbdMez+n03n2VbeQWq0G0Fl1\ns+bF04l1s+bF04l1T9S8UIojR45IM93h5MmTuOmmmzA2NgaNRoNvfvObWL9+/YwbTSQSKBQKGBgY\nwOHDh7Ft2zZ8/vOfx3XXXTflfiMjI3jllVcmvx4cHMSGDRsW8HKab+IHX6vVWlzJ3LHmxdOJdbPm\nxdMpde/fvx8HDhwAACiVSgwODqK/v39B25wxbMrlMj784Q/j3nvvxeWXX4433ngD27Ztw7PPPguf\nzzfnJ3nyySfx1ltv4bHHHpty+8jICFavXj3/6ltg4i+SRCLR4krmjjUvnk6smzUvnk6s2+l04uDB\ngwsOmxmv2bzzzjsoFAq44ooroFAosHbtWvT39+Ott95a0JMSEZG8zBg2gUAA5XIZe/fuhSRJ+O1v\nf4ujR49i+fLlk/fZvHkzduzYMeVxr776KkKhEADg6NGjeOaZZ3DppZc2oXwiIuoEMw4QcDgceOSR\nR/DII4/g7rvvhtPpxFe+8hWsWrVq8j7BYBCBQGDK495++23ceeedKBQKcDqd2LRp02nXa4iISD5m\nHY122WWX4bLLLjvj9/ft23fabVu3bsXWrVsXVhkREXUNtqshIqKmm/XIhoiIxgl1EcWKgGKlhlJF\nQF2UoFL2QKPqgcOsg07Dj9Qz4U+GiGgGdVFEKldBMldGoVJFuV5GpV5BWSijLtWhUqigUWlgS1sR\ncFngthpaXXJbYtgQEU2jWK4hkSsjnS8jU8khW82gKlagUSug0yhhMfRAqVSgXq+hWCljJJ+FhACM\nWjUMusbMuu8mDBsiolNkChVE00VkSiVkKhlkq1notArYrCoY9XooFIrTHmMyqBBXVJEspxDPGjHA\nsDkNw4aICEC+VMVYqohUIY94OYGqWILZoEK/QwuNavaxVCaDEtFiGZVafRGq7TwMGyKStWK5hnCq\ngFShiEQpgbJYgN2ihs84/VHMmaiUCtQlAbW62MRqOxfDhohkqVKrI5TII5kvIllOoljPwWZWw2vU\no6dn7iEzQRQBBQAFzv6xcsCwISJZEUUJ0UwRkVQB8VIC+VoWFpMSA2Y9lPMImQnlah06pQ4GHT9W\np8OfChHJRrZYRSiRR6KYQawYg9GgwIBTB6Vy4UcjlaoInUoHg5Yfq9PhT4WIul5VqCOUKCCWzSFe\njqGOCnxuDXRaZcOeo1wVYdbqYNByJNp0GDZE1LUkSUIsU8JYKo94KYFcNQu7RQWbWd/Q56kKIqo1\nQG/UQc8uAtPiT4WIulKpKmAkmps8ZabTSejv1UKlbHxLyGxegFVrgd2km9fgAjlg2BBR14mmiwgl\nc4gVYyiLeXicWhh0jTtldipJkpArCvAbrXCYdU15jm7AsCGirlGuChiN5xHLZxAtRmEyAP3W+Q1l\nnqt8qQ61QguLTs82NTNg2BBRV4hnSgglc4gW4ygIWXibeDRzqmxBgFXrhtPCo5qZMGyIqKNVhTpG\nYjnE8zlECmPQ64EB18LmzMxVuVJHtaqAxWqCzaRt+vN1MoYNEXWsZK6MUCKPaDGGXC0Dj0MDo37x\nPtYS2RocOifcNgOUPVyLciYMGyLqODWhjpPRLI6OxTFWjECjqWPAq2/I5My5KpbrEKo9sNtscFsb\nO5S6GzFsiKijpAsVBDNxjOViCBVH4bJqYDYu/vWSZKYKh94Dj03Po5o5YNgQUUeoiyKC8TwimRxK\nqiKUagH9Xl1T5s3MplASINbVsFsscFl4VDMXjGMianulioA/BNMYTkQRKozCagUCXkNLggYAEpka\nnHoHPFYDJ3HOEY9siKitJbIlBBM5hPMR1FCE36uFzaxpWT3ZQg0KSQObzsLhzmeBYUNEbUkUJYzG\nc4hksggXwjAagF6b7qwWNGu0uighkanBZwig12FoaS2dhmFDRG2nVBVwMppFNJ9CshyHy66G2dD6\nj6tEpgqjygKHyQS7iUc1Z6P1vz0iolMkc2WMxrMYy0dQffe0mUbV+svL5UodhaKEpRYX/E5Tq8vp\nOAwbImoLoighmMhjLJ3FWCEMnV5Cv721p81OFU1V4dS54bEZoeMyAmeNPzEiarlyVcDwu6fNEuU4\n3DY1zMb2+XhK52vokTRwGmzw2gytLqcjtc9vk4hkKV2o4GQ0g0ghhrKUQ8Cjg0bd+tNmE+p1CclM\nDX5jP/wuE4c6zxPDhohaQpIkhJIFhFNZjBXGoNXW0W9v7nIA8xFLV2DRWOEym2AxtG7Idadj2BDR\noqsJIoajWcTyaUSKETisqrbsmpwrCqhUlPBZ3fC7OChgIRg2RLSoCuUahqNZRPIx5IQMfC4NdNrm\nrztztoS6iHi6Cp8hAJ/TBI2q/WrsJAwbIlo08UwJo4kswoUxSD1l9Ht0i9qp+WxEk1VYNHa4zGYu\n99wADBsiarr3dgMwGRVw2dq3gWUmX4NQU6Hf6kTAZW51OV2BYUNETVWp1TEcySKSTyJZjsNtV8PU\nBt0AzqQmiEhmBPiMAfhcJqjbYEJpN5j1p3jkyBFs2rQJa9euxdVXX429e/fOacM7d+7E+vXrccEF\nF+Dhhx9ecKFE1HmyxSr+EEzhZCaMdDUGv0fb1kEDAJFkBTatAx6rmS1pGmjWsLn77rvxF3/xF/j1\nr3+N+++/H1/60peQTqdnfMyhQ4fw+OOPY+fOnfjJT36CF198ET/96U8bVjQRtb9IqoihcALD2RHU\ne/Lo9+rbav7MdNK5GqS6Bm6jgy1pGmzW3/yxY8dw1VVXAQAuvvhiaLVajI6OzviYl19+GVdeeSVW\nrFgBr9eLG264AS+99FJjKiaitiZJEk5GsxiOJzCSG4HJJKLPpWu7+TPvVa2JSGYFeA1eBFzmlq2V\n061m/WlecsklePnll1Gv13Hw4EGYTCace+65Mz7mxIkTWLZsGZ566il87Wtfw8qVK3H8+PGGFU1E\n7UmoizgazuBkMo5wIQSPQwW7Wd3qsuYkkqzAqXOh12rm5M0mmPXk6T333IObbroJ3/zmN6HRaCb/\nP5NSqQSDwYChoSGEQiEMDg6iWCxOe1+n0zm/yltErR7fcTqpbta8eDqx7kbVXKrUcDSUQrpeRFVb\nxOp+N7Sa5sxNUanGP7qsNmtDthdPV2A1mrDCuQSrB1xQNumoppPfHws1Y9iUy2X8zd/8De69915c\nfvnleOONN7Bt2zY8++yz8Pl8Z3ycXq9HsVjEfffdBwDYs2cPDIbpm9dt37598t+Dg4PYsGHDfF4H\nEbVQplDG8XAaI9lRCIoSlvQZO+Y0VLlSRzojYKm1H0u81qYFTSfZv38/Dhw4AABQKpUYHBxc8DZn\nDJt33nkHhUIBV1xxBQBg7dq16O/vx1tvvTVj2CxduhTHjh2b/HpoaAjLly+f9r7btm2b8nUikZhz\n8a0w8RdJu9d5Kta8eDqx7oXWHMsUMZrIIpQPQ6MR4HFoUMgJjSzxNBNHNJl0ZkHbkSQJJyMl2NUe\n6HrqqJbySJTyjShxWp3y/lizZg3WrFkDYLzmgwcPLnibM0Z4IBBAuVzG3r17IUkSfvvb3+Lo0aNT\ngmPz5s3YsWPHlMdt3LgRe/bswdDQECKRCHbt2oWNGzcuuFgiah+SJGE0lsOJaBInsyMwGuvwOrVt\ns/7MXMTTVWhghNtkQ5/d2OpyutqMRzYOhwOPPPIIHnnkEdx9991wOp34yle+glWrVk3eJxgMIhAI\nTHnceeedh9tuuw1btmyBIAjYtGkTw4aoiwj18UaakWwK0VIUnjafqDmdXFFAsajAEqsXA25L24+W\n63Szvjsuu+wyXHbZZWf8/r59+6a9fcuWLdiyZcv8KyOitlSuCjgRySKSTyBTS8Ln1kDXpIEAzVIV\nRMRTNfiMfvidZui1nRWUnYg/YSKas1yxiuFoFuH8GCpSAQGPtmMGAkyQJAlj8QocOhe8Vguclvbt\n0dZNGDZENCeJbAkn4xmE8mGo1DUEHO0/UXM60VQVGhjgMdnZZHMRMWyIaFbBRB6hZAbhQghmkwJO\na2f2DMsVBJRL716n8fA6zWJi2BDRGdVFESejOYxl04gUx+C2qWE2dubHRrUmIpauwW8MIOCyQK/p\nzNfRqfjTJqJpVYU6ToxlEcklkKzG4XNp23JFzbkQRQnhRBlOnRu9NgsXQ2sBhg0RnaZQruFEJItw\nPoKSmEXAo+vodV1iqSp0CjO8JnZzbhWGDRFNkcyVcTKWQbgQhkJZRb9H39HXNrKFGsqVHiyxuDHg\nMXf0a+lkDBsimhROFhBMZhDOh2AwSnDbOvt0U7laRzwtTF6n0fE6TcvwJ09EEEVpfKJmdnzEmdOq\ngtXU2W3266KEsUQFHr0XPruV12lajGFDJHM1oY6joRRGUjEkKzH0OrUw6DpzIMCpxhIVmFRWeMx2\n+Jzse9ZqDBsiGStVBYROJhDMjiFdjcHv0UHTwQMBJiQyVUiCGl6rB0s8lo5qDtqtGDZEMpUvVXEi\nkkVWkUO9p4SAVw9lF1w8L5QEZPMSBix9WOIxd/Qoum7C3wKRDKULFRwNp3EyOwKoyuj3GroiaKqC\niGiyhj5jLwJOC0z6zr7u1E14ZEMkMxM9zoK5EPT6Ovye6VfR7TSiKCEcL8OhdcFrtcJt7Y7X1S0Y\nNkQyEk4WMJpII1wIwWrpgd2sbXVJDRNNVaBTmOAxO9DPBptth2FDJAOSJGE0nkc4nUaoEOroHmfT\nSedqqFZUWGrtxRI22GxL3fNuI6JpiaKE4WgWY9kUosUIvE41jLru2fVLlTqSWQH9pgEE3GZO3GxT\n/K0QdTGhLo73OMsmkKzE0OfWdtyqmjOpCSLGEhV4DX3os5thM3bPacFuw7Ah6lJVoY7jYxmEcjHk\naqmumUMzQRQlhOJl2DVOeC029Dk4cbOdMWyIulCpIuB4JINQLoKymEO/Rw+lsruuY4TiJeh7LPCa\nnVjiMXPiZptj2BB1mYnJmqO5ECRlGQFPZy7fPJNosgyxqkGf0YqlXiuUPd1zxNatGDZEXSSVL2M4\nmkEwH4JGI8Dj0HbdX/zZQg21uhZLbQF4jD3QqrvnGlQ3Y9gQdYlYpoiR+HjQGA0SXLbuu1heqowv\nGfD//AEs9dqgEEqtLonmiMeeRF0glMjjRDSFkdworGbAZeu+Ni3Vd0ee9Rr6EHDa4GKHgI7CIxui\nDiZJEkZiOYQz4+vQuO1qmA3dt1vXRQnhWBkOrRu9VhsCbkurS6Kz1H3vSiKZEEUJJ6JZjGWSiJWi\n6HVqumIdmveSpPFF0AxKK7wmBwbcbEXTiRg2RB1IqIs4PpbBWDaBZDUOn1sHraY7z4rH0lWgrkWf\n1YOlvWxF06kYNkQdplIbn6wZzkWRF9IIeHRdu2ZLOl9DqdSDJZY+LPVYoFF135GbXDBsiDpIsVzD\n8UgWodwYqsgj0IWTNScUygJSmToCpn70uy0w6NStLokWgGFD1CFyxSqOR9II5sNQKCvwO7tvsuaE\nak1ENFFDn9EHv9MCu0nX6pJogRg2RB0gmStjOJZGKB+GRivAY+++yZoT6vXxnmdOnQdeqxW9dvY8\n6wYMG6I2F02PT9YM5YMwmQCntfsma06QpPHVNs0qG3otXAStmzBsiNrY+MqaKYQKIditSthM3X3d\nIpqsQikZ0GvycBG0LsOwIWpTwXgeoVQawUKwaydrniqZraJaVaHf7MXSXkvXjrCTq+5+9xJ1qJFY\nDqF0GuFCCF6HGkZ9d++q+aKATE5Cv7kXSzxW6LnaZtfhb5SojUiShJOxHELpFKLFsa7tCnCqSlVE\nNFWD3+hHwGmFlattdqUZwyYUCuGaa66ZclupVMJjjz2GK6644oyPe+2113DjjTdCr9dP3rZr1y4s\nX758geUSdS9RlDAczSKcSSJWjqLPpYFO291BI9RFhBMVePQe9Nqs8NjYXLNbzRg2Pp8Pb7755uTX\nw8PDuPbaa3HJJZfMumGv14v9+/cvvEIiGRBFCccjGYQzSSQqUfhc3dt+ZoIoSgjHK7Co7fBa7Ai4\nTK0uiZrorE6j7dq1C1deeSV0Ok6wImqUuiji+FgW4UwcqVoCfrcOGnV3Bw0ARJIVaGBEr8mFJR5L\n184bonFzDhtRFPH888/jwQcfnNP9E4kE1q9fD4PBgOuvvx633HLLtPdzOp1zLaEtqNXjQ087qW7W\nvHjOtm6hLuIPo0nkpDJqujLev9Sz6KOwVKrxjwGrzbpozxlLlWHQGbDUtgSrBlzQneWAALm8P9rB\nRM0LNeff8MGDB6FQKHDRRRfNet+VK1fipZdewsDAAA4fPoxt27bB7XbjuuuuO+2+27dvn/z34OAg\nNmzYMNeSiDpatVbHUDCJkfQY8vUUlvQaoZLBcN9UtopcDlhqC2B5n/2sg4aab//+/Thw4AAAQKlU\nYnBwcMHbVBw5ckSayx3vuOMODAwM4Itf/OJZP8mTTz6Jt956C4899tiU20dGRrB69eqz3l4rTfxF\nkkgkWlzJ3LHmxTPXuiu1Oo6FMwjlIiiJWfjdupY11Jw4osmkM01/rnxRQCwlIGDqxzKvHQ7z/E7J\nd/v7o504nU4cPHgQ/f39C9rOnP6kyGQy2LdvH5599tkFPRkRAaWqgONjGQSzY6ghD79HB6UMZsqX\nKvXJIc79Luu8g4Y605yO2V944QWce+65WLFixWnf27x5M3bs2DHltldffRWhUAgAcPToUTzzzDO4\n9NJLG1AuUWcrVQQcC6UxmglB6CnA55ZH0FRrIsYSVfQa+uCz2zjEWYbmdGSze/duXHvttdN+LxgM\nIhAITLko6mw4AAAgAElEQVTt7bffxp133olCoQCn04lNmzZNe72GSE4K5RqOj2UwmgsBqjJ8zu7t\n3HwqoS4iFK/ApfOgz2aDn0OcZWlOYbNr164zfm/fvn2n3bZ161Zs3bp1/lURdZk/rkUTglJdhdch\nj6CpixKCsTKsaie8ZjsG3OziLFccBkLUZJlCZTJoNFoBXoc8rlVIkoRwrAxDjxV9ZheW9XIujZwx\nbIiaKJUv40Q0jWAuBL2hDrdNPn2/wokKVJIBPosXy3qtUPZ0/7BuOjOGDVGTTKyuOZoLwmSUunrR\ns/eKpiqQBA385j4s43IBBIYNUVPEMkWcjGUQzI/CaumB3axpdUmLJpmpolxSYsDiw9JeKydtEgCG\nDVHDhRN5nIhOrK7Z0/Wra54qk68hm5fQb/FhiccKo04+r51mxrAhaqDRWBYj8SRChSBcNhXMRvns\nYoWSgGSmDr8pgCVuG9eloSnksycQNdloLIe8KCGYG4XbroKpy5dxPlW5Ukck+ccF0NgdgN5LPnsD\nUZNIkjS5jHNBmUOfRwehIrS6rEVTrY0vgOY19KHPZkWv3djqkqgNcYgI0QJIkoThaA7BdBKRYhg+\njw5GvXz+hhPqIoKxMhxaN/qsdgQ4aZPOQD57BVGDiaKEE+8u4xwvR9Dn1sKgk88uVRclhGIVWDUO\n9Fmc7A5AM5LPnkHUQHJcxvlUkiQhHC9D12Oe7A7QI4OGojR/DBuiszQRNKFMAslKDH6PDhqZTVoc\nS1SgFA3wWdkdgOaG7xCis3Bq0KSqcVkGTSxVQb2mfrc7gBUalbLVJVEHkNdeQrQAoijh2Ngfg8bn\n1souaFK5GkolJfwmP5Z6LdCzOwDNkbz2FKJ5mgiacFa+QZMrCEhnRfjNPizxWmHSy6cFDy0c/ywh\nmkVdFHF8LItwJo5ULQG/Wyu7xpKFsoBYuga/MYABlxU2dgegsySvPYboLE0Nmrgsg6ZcrSOaqMFn\n9CHgtMFp0be6JOpA8tpriM7C6UGjk13QVAUR4XgFHoMXfTYb+hzsDkDzw9NoRNOYCJpQJoZ0LSHL\noKkJIkKxChxaN3otdgRcplaXRB1MXnsP0RwwaMbb0IRiZdjU490Blni4pDMtDI9siE5RF0UcC2cQ\nysaRqSUQ8OigUsoraOqihGCsDLPagT4LuwNQY8hrLyKawalBk5Vp0IiihFCsDKPSCp/Zze4A1DA8\nsiHCH4MmmI0hV0vCL9egiZehVZjhM4+3oZHbz4Cah+8kkr1Tj2jkGjSSJCGcqEAtGeE392J5n1V2\n16moufhuIll776kzOQYNAIRiJfTU9fBb+rC8j/3OqPF4Go1ka3LUmcyDJhwrQarpEDCbsazXCq2a\nQUONx7AhWTp1eLNcR50BQDRVgVZtxFJbAE492FiTmkZ+exfJ3nvn0cg1aOLpKiplFQas/Vjpd8Cg\nU7e6JOpi8tvDSNZEUZpsQTMxYVOOQZPMVFEs9sBv8mGlz8EOztR08tvLSLYmlwmQca8zAEjnasjl\nAb/Zh2VeGyzs4EyLQH57GsnS1KCRZwsaAMjka++uSePHErcNVgYNLRL57W0kO1MWPpPpejTA+OJn\nyUwdPtN40DjMulaXRDIivz2OZEUUJRyPTF1hU45BUyiNL37mM/ox4OKaNLT45LfXkWxMBE0oI9+l\nnAGgWK4jkqzBb/Sj32WDx2ZodUkkQ/Lb80gWTg2aZCUm26ApVeoYS1ThM/rgc9jQa+fiZ9QaM+59\noVAIH/jAB6b8t2rVKuzZs2fWDe/cuRPr16/HBRdcgIcffrhhBRPNRpIknIhmEc4kkazE4PfoZBk0\n5WodY/Eqeg198Nls8Du5+Bm1zozThX0+H958883Jr4eHh3HttdfikksumXGjhw4dwuOPP46nn34a\nJpMJn/zkJ7F69Wps3LixMVUTzeBkLIexTBKJShR+tzyDplqbWM65Fz6bDQG3udUlkcyd1V64a9cu\nXHnlldDpZh7F8vLLL+PKK6/EihUr4PV6ccMNN+Cll15aUKFEczESyyGUTiFWjsDn0kGjXvygeePX\nrV1orCqICMbKcOm86LXY0c+goTYw50ZIoiji+eefx4MPPjjrfU+cOIF169bhqaeewtjYGNauXYsX\nXnhh2vs6nc65V9sG1Orxlh6dVLdcaj4ZzSAviij25PG+FW7otYvf50ulUuGtQwp8cK110Z8bAARB\nRHysgKXuFei3e7DSb591OWe5vD/aQSfWPVHzQs15bzx48CAUCgUuuuiiWe9bKpVgMBgwNDSEUCiE\nwcFBFIvFae+7ffv2yX8PDg5iw4YNcy2JaFIwnsNoIoVQfhR9Hl1LguaNXyvw1iEFvvsdBcR6Dz74\nQQkfXCst2vMLdREnI0XYNW4EbG6s8M0eNETT2b9/Pw4cOAAAUCqVGBwcXPA257xH7t69Gx/72Mfm\ndF+9Xo9isYj77rsPALBnzx4YDNMPt9y2bduUrxOJxFxLaomJv0javc5TdXvNkVQRJ+NJBAtBeB1q\nCJU6MpVmV3i6FSuAD661Qqz34IYbUgCATHpxnrsuSghGyzCqbDCpNbDpRKRSyTk9ttvfH+2kU+pe\ns2YN1qxZA2C85oMHDy54m3M6oZ3JZLBv3z58/OMfn9NGly5dimPHjk1+PTQ0hOXLl8+vQqIZxDMl\njCTSCBVCcNvVMOpb3yL/gx9cvKMZ4N3lnGNlGJQW+MxuLOu1Qtkjv0ER1N7m9I584YUXcO6552LF\nihWnfW/z5s3YsWPHlNs2btyIPXv2YGhoCJFIBLt27eJINGq4ZK6M4VgawXwQTpsSZkPrgwbAop46\nE0UJoXgZWoUZPrMXy3ttsuxiTe1vTnvn7t27ce211077vWAwiEAgMOW28847D7fddhu2bNkCQRCw\nadMmhg01VCo/ETSjsFt7YDHKby0WSZIQTlSglozwW3qxvM8qy1Y81BnmFDa7du064/f27ds37e1b\ntmzBli1b5lcV0QyyxSqGoxmM5oKwmBWwmeQZNKF4BSrRAL+lD8t6LdCouJwztS/+GUQdJV+q4kQk\njWA+BJNRgsMiv0W/JElC+JSgWd5rhY7LOVObY9hQxyiUazg2lsZILgidToDTKt+g6anrGTTUURg2\n1BFKFQHHxzII5kPQaAW47fJb9OvUoAlYfQwa6igMG2p75aqAY2MZjOZC6FFV4XXIN2gUdT38Fh+W\nMWiowzBsqK1VanUcG8sgmA0ByjJ6nTINmsR40AQsPizvs0LPoKEOw7ChtlUT6jg+lkEoF4HQU0Sf\nSyu79iuTQSMwaKizMWyoLQl1EX8YTSKYjaAi5eBz6WQbNBB0CJj7GDTU0Rg21HbqooihYBKjmQhK\nYhY+tw49PfILmrF3g6bf7MPyPhuDhjoa373UVkRRwvGxLHJSGVkhCb9bB6VMg0YSdAhMBE0LulgT\nNRKPbKhtSJKE45EMwtkEUtU4BrwGKJXyChoAiCQrEAUtAmYfVjBoqEswbKgtSJKEE5EswpkkkpUY\n+r1GqGTY52ssUUa9pkW/2Y/lvVYGDXUNvpOpLZyM5RDOJJGoROF3t2Y551aaOHUmCn8MGoNOfj3f\nqHvJa4+mtjQSyyGUTiFWiqLPpWXQMGioC/HIhloqmMgjlE4jUhyDz6WBTiOvzsWnDgbo5zUa6mJ8\nV1PLhJMFhJJphAsh9Do10GnlFzTh9w5vZtBQl5LX+QpqG7FMEaOJNIKFILwONQw6Bg2DhroZ3920\n6FL5MkbiGYQKIbhtahj18nobTmlBY+5j0JAs8B1OiypfGl9lM5gPwW7pgdkor7fgqd2b2euM5ISn\n0WjRlCoCTkSyCOVDMBhE2MzyGnHFoCE5Y9jQoqgKdRyPZBDMhaHS1OC2yWupgCkLnzFoSIYYNtR0\nQl2cXCpAVJZkt/iZJEkInbLC5goGDckQw4aaShTH29CEcjGUxRz6nPJak0YUx4NGJRq4lDPJGsOG\nmkaSJAxHswhnE8jVUvDLbKkAURwfdaYSDfBb+hg0JGsMG2qa0XgeY9kUkpUYfG6drDo4jx/RlKES\njQwaInDoMzVJOFlAOJ1GpBiBz62FRkYdnOuihGCsDK3CDL+lF8v7rNCq5TVplei9GDbUcIlsCcHk\n+KRNr1Mtq35ngiBiJFKEvscCn9mL5X1WaFTyef1EZ8KwoYZKFyo4Gc8glA/CZVPBqJPPW6wmiDgZ\nKcKqcsBk0WFZrxVqGR3REc1EPp8E1HSFcg0noxkEcyFYzApYjPKZtFkVRIRiFfQ7+xCweWDXSVAp\nGTREE7g3UEOUqgKOj2UwmgtCr6/DYdG0uqRFU6mKCEbLsGtcGLB7cY7fwaAheg8e2dCCVYX6u5M2\nw1Cqa3Dbda0uadGUq3WE4xW4dF70WR1Y6XfIang30VwxbGhB6uIfuwMIPUX4nfIJmlKljrF4FR5D\nL/qsDizxmBk0RGfAsKF5E0UJx8eyGMslUBKzCHj0sukOUCgLiCRq6DX0wWezod9tls1rJ5oPhg3N\n28lYDmPZJDK1JAIeHZQy+as+XxQQTdXgM/rgs9kQcJtbXRJR22PY0LyMxnIIZ1JIVKLwu3WyuSCe\nKwiIpwX4jX74HTb4nKZWl0TUERg2dNYiqSLC6QwixTH4XFpo1PIImnS+hlRGhM/ox4DLDq/d0OqS\niDrGrJ8S5XIZ999/Py688EKsW7cOX/3qV2fd6GuvvYZVq1bhAx/4wOR/x44da0jB1FrJXBkjifR4\ndwCHGjqtPGbHp3I1pDMiAqYAlnoYNERna9YjmwceeAAjIyN48cUX4XQ6MTQ0NKcNe71e7N+/f8EF\nUvvIFCoYjqURygfhsCph1MvjwDiRqSJfUKDf0o8lbhscZvmMuCNqlBk/LcrlMp5//nns3r0bLpcL\nAHDOOecsSmHUXgrlGoajGYTyYVhMClhN8ugOEEtXUCoqETD7sNRjg93EoCGajxlPo504cQIKhQJ7\n9+7F+vXrcc0112Dv3r1z2nAikcD69etxxRVX4Fvf+lZDiqXWKFcFnBjLIJgPQasT4LDKoztAJFlB\nuaRCwOzHcq+dQUO0ADMe2eTzedRqNYyOjuKVV17Bm2++iVtvvRU/+9nP4Ha7z/i4lStX4qWXXsLA\nwAAOHz6Mbdu2we1247rrrjvtvk6nc+GvYhGp1eN/0XdS3QupWaiLCJ+MI6sowOLQIuCxN7q8aalU\n429Nq826KM93KkmSEI6XoNeYcK47gJU+ByzGuS1lLbf3R6t0Ys1AZ9Y9UfNCzRg2Op0O9XodN910\nEzQaDS688EIsW7YMhw4dwuWXX37Gxzmdzskf5qpVq/CpT30Kr7zyyrRhs3379sl/Dw4OYsOGDfN9\nLdRgkiThaCiFUDaKmqKAAXf3XxSXJAnBWAmo6bDEFsBKvwMmvTyO5Igm7N+/HwcOHAAAKJVKDA4O\nLnibM4ZNf39/02dFb9u2bcrXiUSiqc+3UBMh2u51nmq+NZ+MZjGSSiBejmDAq0c2k21GedOaOKLJ\npDOL9pwTyzgr63r4zWa4DApUijlUinPfhpzeH63UiTUDnVP3mjVrsGbNGgDjNR88eHDB25zxmo3V\nasW6devw/e9/H4Ig4PXXX8fx48dx/vnnT95n8+bN2LFjx5THvfrqqwiFQgCAo0eP4plnnsGll166\n4GJp8URSRYxlMoiXovC5un9J57ooIRQbX8Y5YPVhuc8GvVYeo+2IFsOchj7fe++9WLduHbxeLx56\n6KEp12uCwSACgcCUx7z99tu48847USgU4HQ6sWnTpmlPoVF7ShcqCCYzCBfC8DjU0Gq6e9JmvT6+\njPOpq2tyGWeixpo1bAKBAH7wgx+c8fv79u077batW7di69atC6uMWqJUEXDy3SHOdkv3z6UR6iKC\nsTJMSht8Fg+W9XIZZ6Jm6O5PEjorNUHE8UgGofwYdPo6bOa5jcDqVDVhPGisaif6zC4u40zURAwb\nAjB+cfxEJIOxfBRiTwluW3fPKanWRITiFdjVLvRZXVjWa4Gyh0FD1CwMGwLw7nIBuSQKQgYBb3ev\nS1Ou1BFOVODUetBndWCZ18pFz4iajGFDCCcLiGQzSFZi8Hf5ujSFkoBIsgavoQ99VjsG3Fxdk2gx\nMGxkLpkrvzvyLIRepxaaLr5mkcnXkMzU4Tf60WezctEzokXEsJGxQrmGk7EMwvkQnFYVDLruHYWV\nzFSRzUvwmwLod9q4RADRImPYyFSlVseJSBbhQhgGowSrqXtbskRTFZRLSvRbfFwigKhFGDYyVBdF\nDEeyCOcjUCirXTvyTJLG289IggYDFh+WeKywzrGhJhE1FsNGhoajOURyCZTELPo9+laX0xR1UUI4\nVoYaRvjMvVjaa4VRJ481eIjaEcNGZoKJPCLZNJLVOAIeXVeOxJroCmBUWtFn8mJZrwU6Dd/qRK3E\nPVBGEtkSQskMIsUx+FzarpwtPzFZ06Z2opddAYjaBsNGJrKFCk7Gx4c4u21q6LTdN/KsVKljLFGF\nS+dBr8WOpV52BSBqFwwbGShXBRwLpxDKh2E2KWA2dt+vPV8UEE3V0GvoQ5/NhgG3uau7IBB1mu77\n1KEphLqIo6EURrMhqNQ1OK3dN/Isna8h9e5kTZ/dBr/L1OqSiOg9GDZdTJIkDEezyIplVFGA19F9\nw34TmSryeSBg6ke/ywqPjZM1idoRw6aLBeN5RLIplNVFLOkzoJAXWl1SQ0WSFVQrKgQsfZysSdTm\nePW0S8UyRYTTGURLUfg9eqi6aESW+O4SzkJVg36zHyt6HQwaojbHI5sulC9VMZrIIlQIw2PvrpFn\n9bqEULwMDUzwWXqxzGuBgZM1idoew6bLVIU6hqM5hPNhWEwKmAzd8yuuCSJCsTJMKhv6zONLOGvV\n3ROkRN2sez6JCJIk4WQ0h0ghih5Vd408q1RFhOJlODQu9FqcWOrlZE2iTsKw6SKhRAHRXAp5IYN+\nb/f0PCuW64gkqnDrvfBysiZRR2LYdIlkroxQ6t0BAe7uWW0zVxQQS9XQZ/Shz2pFPydrEnUkhk0X\nKFUEjMazGCuE4bKpoNV0x1/9yWwF8VQdfmMAfocVPicnaxJ1KoZNh6uLIoaj42vT6A0SLMbuWAQt\nmiyjUFCg3xxAv8sKt5WTNYk6GcOmww1Hc4jkExAURfR2wSJooihhLFmBSWfCEqsfNq0Eu6nzXxeR\n3DFsOthYqoBoNoN0NYF+r67jr2XUhPERZ/oeC5Y5BrC8z45KMdfqsoioARg2HSpbrCKUzCJSHIPX\nqYVK2dnXacqVOsKJCuwaJ7xmJ94XcEKrUaFSbHVlRNQIDJsOVBXqOBnNIlwYg82ihEHX2RMbcwUB\nsXQNXkMfvBYblnjM0HJlTaKuwj26w0xM3BwrRKFU12Dv8J5giUwVubwEvzEAn90Kn9PY8acDieh0\nDJsOE0qOT9ws1rPod3XuxE1RlBBJViDU1Oi39GHAZYXT0rmvh4hmxrDpIOlCBeFUFtFSFD63tmMn\nbgp1EeF4BRoYscTSiyUeC8yG7hiyTUTTY9h0iEqtjtFYDmOFMTisKug0nXmdplIVEU5UYFHb0Wty\nYanXAh2vzxB1Pe7lHWD8Ok0WY4Uo1BoBtg6dd5IvCoimavDoPfCYx3ucdfooOiKaG4ZNBwglCojm\n0yh18HWaVK6GdFaE3+hHr82KgMvEgQBEMsKwaXOpfBnhdBaxdxts9nTYdRpJkhBNVlGtqtBv9iHg\ntMJjY+sZIrlh2LSxclXAaCyHcCEMp7XzGmzW6xLC8TKUkgH9Zi+WeKywGrWtLouIWmDWT69yuYz7\n778fF154IdatW4evfvWrc9rwzp07sX79elxwwQV4+OGHF1yo3IjiH+fT6LQirKbOWvq4WhMxEi1B\n32PFgNWPc/wOBg2RjM16ZPPAAw9gZGQEL774IpxOJ4aGhmbd6KFDh/D444/j6aefhslkwic/+Ums\nXr0aGzdubEjRchBOFRDNp1AWc+i3d9Z1mkJZQDRRg1PnQa/FgSUeC1fVJJK5GcOmXC7j+eefx+7d\nu+FyuQAA55xzzqwbffnll3HllVdixYoVAIAbbrgBL730EsNmjvKlKiLpHGLlKAIddp0mna8hlamj\nz+iD12pFv8vcUfUTUXPMGDYnTpyAQqHA3r17sWXLFthsNvzd3/0dLr/88hk3euLECaxbtw5PPfUU\nxsbGsHbtWrzwwgvT3tfpdM6/+hZQq8dPZzWr7npdRDgbR7GnhCV+B5y2hZ96UqnGf81Wm3XB2zqT\n8YEAFYiSDv/PH0C/2waf0zzv7TX759wsnVg3a148nVj3RM0LNWPY5PN51Go1jI6O4pVXXsGbb76J\nW2+9FT/72c/gdrvP+LhSqQSDwYChoSGEQiEMDg6iWJy+fe/27dsn/z04OIgNGzbM86V0h5FYFpF8\nAvWeMpw2Y6vLmZO6KCEULUJR12OZzY+lvTY4zJ116o+I/mj//v04cOAAAECpVGJwcHDB25wxbHQ6\nHer1Om666SZoNBpceOGFWLZsGQ4dOjTj0Y1er0exWMR9990HANizZw8MhumHu27btm3K14lE4mxf\nw6Ka+IukGXVmChX8IZzAaH4EAa8WmbTQkO1OHNFk0pmGbO9UVUFEOFaGQWlFn9kCt0EBqVpEIrGw\ntQGa+XNupk6smzUvnk6pe82aNVizZg2A8ZoPHjy44G3OGDb9/f3zmni3dOlSHDt2bPLroaEhLF++\n/OyrkxGhLiKYyCNSjMBhUUHTARfUC2UB0WQVDq0bXpMDS3st0Kg6s40OETXXjJ9oVqsV69atw/e/\n/30IgoDXX38dx48fx/nnnz95n82bN2PHjh1THrdx40bs2bMHQ0NDiEQi2LVrFwcHzCKYyCNWSEKh\nrMJmbv9hzslsFdGEgF6DH/12N1b6bAwaIjqjOQ19vvfee7Fu3Tp4vV489NBDU67XBINBBAKBKY85\n77zzcNttt2HLli0QBAGbNm1i2MwglS8jmskhXUki4G3vuSj1d5cGqNfUGLAE4LNb4LWzIwARzWzW\nsAkEAvjBD35wxu/v27dv2tu3bNmCLVu2zL8ymagJIoLx8dNnTpuqreejVKoixhJl6JUW9Fs8GODS\nAEQ0R2xX02Ij8RxixThUGgEWY/t2c84VBcRSNbh0HnjNdizx8voMEc0dw6aFEtkSErkcsrU0+r3t\nGTSSJCGerqJQxGTHZr/TxImaRHRWGDYtUqnVEUrkMVYYg8uuact1XYS6iLF4BT2SHgMWL/pdFi7d\nTETzwrBpkZFYDtFiHFqd2JbXPUqVOsYSFVg0dvQa3VjiMcOga/9RckTUnhg2LZDMlZEs5JAXMhho\nw8XQ0rkaklkBXkMfPGYrlni4oiYRLQzDZpHVRRHhZAHRYgwumwbKNrr2ceqw5n7TAHwOC/ocndEy\nh4jaG8NmkY0li0gUk+hR1WA2tM9RTbk6ftrMoLQgYPGg323m+jNE1DAMm0VULNcQzeSRqCTQ72mf\n0WfpfA3JjACP3guP2Y4Bj5nDmomooRg2iyiYyCNWjMFqVEGjbv01kLo4vixArapCwNSPPrsFPodx\nXv3wiIhmwrBZJIlsCYlCDiWxgCVtMHz41G4AfqsHAbcZNp42I6ImYdgsAqE+PiggVorBY9e0fEJk\nJl9DIiPArffCY7JhwGOBVs3TZkTUPAybRRBJFZEopaBW12HUt+5ajShKiKWqqFSU46fNbBb4nDxt\nRkTNx7BpsqpQRzxbRKqSRMDTutNUhZKA4bESjCoLllo98LtMsJvaZ5ACEXU3hk2TRVJFJCspGHU9\nLRkUIIoSIoky8nkRHn0f3CYrAi4TdBr+6olo8fATp4nKVQHxXAHpSgoDLWi0Wa7UEUlW4LJascze\nB0NPHR6bnqfNiGjRMWyaKJIuIllKwWJQLuo6NZIkIZmtIZOvw6P3YoVzCZZ4rSgVsotWAxHRqRg2\nTVKqCEjkCsjVshhwLt61mkpVRCRZgQp6LLF40GszY9WAEwqFAqXCopVBRDQFw6ZJIukikuUULEbl\nojWxTGarSOUEuHRuuI129LvNMOrUPG1GRC3HsGmCmiAiUygjV8tiqbP5EzirgohoogKFpMWAyY9e\nmxl9DmPL5/MQEU1g2DRBKl9GtpqDQdsDpbK5H/gTfc2cWidcRgcCLlNbro9DRPLGsGmCZK6MTCUD\nl6N5i41VBRHRZAVSXYOAqR9eqxk+pxHKntb3XCMiei+GTYPlilXkykWIiioMOkPDty+KElK5GtL5\n8aMZp2n8aIbLARBRO2PYNFgqX0ammoXF2PgfbaEkIJauQqcwYonZD4/FhF6HkatoElHbY9g0WKEs\noFgrwNfAU2g1QUQsXUWt0gOPwQen0Qy/0wSDrnmn6YiIGolh00A1QUS5VoUIARrVwk9riaKEdL6G\ndK4Om9aOgM2BXrsRLmvrlyggIjobDJsGKlZqKNfL0GoW1q5fkiRkCgJS2Rp0PUb0m1xwW4zoc5gW\ntRMBEVGjMGwaqFQVUK5XoNPMPxCyhRqS2RrUCj18Bi/sRhN67QaY9BzOTESdi2HTaJKE+cysyRcF\nJDJVKKGFV++HXW+C127gKDMi6goMmwZSK3ugUqhQEaU53V+oi8gWBGQLApTQwqXrg11vhtdu4Foz\nRNRVGDYNpNOooFPpkSzGUbdKUE7TLkaSJBQrdWTzAooVEWa1BX16C8w6Azw2A+wmLXuZEVHXYdg0\nkFGnht1oRK5mxUgkA4tBBZVKAQUUKNfqqFREVAQJmh4tLBonei1m2Ew6OEw6tpghoq7GsGmwAY95\nfMhyyYR8NY9SuQ5JkqBVmWHS6qA1aKHXqGA36WA36Ti6jIhkgWHTYBqVEucG7MgUDChWHBDqIkRJ\ngl6jgl6jgkGnYv8yIpIdhk2TWI1ajiQjInoX/8QmIqKmm/XIZvPmzTh06BCUyvFZ8VdeeSW+9rWv\nzfiY1157DTfeeCP0+j+2Vdm1axeWL1++wHKJiKgTzek02v3334/rr7/+rDbs9Xqxf//+eRVFRETd\nZTpe/N8AAAq9SURBVE6n0SRpbpMUiYiIpjOnI5uHH34Y//qv/4r3v//9+Pu//3usWLFi1sckEgms\nX78eBoMB119/PW655ZZp7+d0Os+u4hZTq8fb+ndS3ax58XRi3ax58XRi3RM1L9SsYfPlL38Z5557\nLur1Op544gls27YNL774IlSqMz905cqVeOmllzAwMIDDhw9j27ZtcLvduO6660677/bt2yf/PTg4\niA0bNszzpRARUSPs378fBw4cAAAolUoMDg4ueJuKI0eOzPkcmSRJWLt2LX70ox/h3HPPnfOTPPnk\nk3jrrbfw2GOPTbl9ZGQEq1evnnu1bWDiL5JEItHiSuaONS+eTqybNS+eTqzb6XTi4MGD6O/vX9B2\nznros0Kh4DUcIiI6KzOGTS6Xw/79+1GtVlGtVvHNb34TLpcLK1eunLzP5s2bsWPHjimPe/XVVxEK\nhQAAR48exTPPPINLL720CeUTEVEnmPGaTa1Ww9e//nXccccdUKvV+JM/+RP827/92+ScGwAIBoMI\nBAJTHvf222/jzjvvRKFQgNPpxKZNm6a9XkNERPIwY9g4HA48++yzM25g3759p922detWbN26dWGV\n0f9v515Dmvz7MIBfwzkPqX/zbChqiZ1UMFOsUFFBMDENiQLRIgg6gFQvEjq9KSIhpBcdXphExl6k\nhFhophAooR01hbJgmiEquvCYpnObz4twuP+jbrvtt3s+z/WBoM37N68u1r7e9+aPiOh/BrerISIi\n4ThsiIhIOA4bIiISjsOGiIiE47AhIiLhOGyIiEg4DhsiIhKOw4aIiITjsCEiIuE4bIiISDgOGyIi\nEo7DhoiIhOOwISIi4ThsiIhIOA4bIiISjsOGiIiE47AhIiLhOGyIiEg4DhsiIhKOw4aIiITjsCEi\nIuE4bIiISDgOGyIiEo7DhoiIhOOwISIi4ThsiIhIOA4bIiISjsOGiIiE47AhIiLhOGyIiEg4Dhsi\nIhKOw4aIiITjsCEiIuE4bIiISDgOGyIiEs7isCksLERsbCzi4uIQFxeHkpISqx64srIS+/btQ2Ji\nIsrKytYclIiI1i+rzmyuXr2Kjo4OdHR0oLS01OLxnZ2duHv3LiorK/H8+XPU1dXhxYsXaw7rKLq7\nu+WOYDNmtp/1mJuZ7We95l4rq4bNwsKCTQ/a0NCAzMxMbNmyBYGBgTh06BDq6+slBXRE6/HJwsz2\nsx5zM7P9rNfca2XVsCkrK0NSUhKOHz+Onp4ei8f39fUhIiICjx49QmlpKSIjI/H9+/c1hyUiovVJ\naemAkpISREVFwWAw4N69ezh9+jTq6uqgVK689Pfv33B3d4dGo8Hg4CBSUlIwMzOz7LG+vr7S08vA\n2dkZ6enp8Pb2ljuK1ZjZftZjbma2n/WY29nZ+a88jsVhEx0dbfr7+fPnoVar0dvbi6ioqBXXuLm5\nYWZmBpcvXwYANDU1wd3dfdljX79+bWtmIiJaZywOm39TKBQW38MJDw9Hb2+v6bZGo8HmzZv/67jQ\n0FBbvz0REa1Dq75nMzU1hebmZuh0Ouh0Oty5cwd+fn6IjIw0HVNYWIhbt26ZrcvKykJTUxM0Gg2G\nh4fx9OlTZGVlifkXEBGRw1v1zGZ+fh63b9/G2bNn4ezsjJiYGNy/fx9OTk6mYwYGBhASEmK2LjY2\nFmfOnEFRURH0ej2OHDnCYUNE9H9M8e3bN9s+10xERGQjbldDRETCcdgQEZFwHDZERCSczR99ttbE\nxASqq6sxMDAAf39/5OfnIzAw0OK6trY2NDc3w2AwICEhAZmZmaIiLktK7t7eXjx8+NDsl59OnToF\nf39/0XHR3d2NlpYWDA0NISYmBvn5+Vatk7tnKbnl7BkADAYDampq0NPTg/n5eQQHByMnJwcBAQEW\n18rVt9TMcnddXV1tyrxx40ZkZGRg+/btFtfJ/byWklvurhf19fWhoqICubm52L17t8Xjbe1a2LCp\nra1FUFAQjh07hra2Njx58gTFxcWrrunv78erV69w4sQJuLq6ory8HJs2bTL7xVLRpOQGAE9PT1y4\ncMEOCc25uroiOTkZPT090Ol0Vq1xhJ6l5Abk6xn4s0egr68vMjMz4eXlhdbWVqjVapw7d27VdXL2\nLTUzIG/XycnJOHjwIJRKJTQaDR4/foxLly5BpVKtuMYRntdScgPydg38+aGksbER/v7+UCgUFo+X\n0rWQy2izs7PQaDRISUmBUqnEnj17MD4+juHh4VXXff78GTt37kRAQAC8vLwQHx+Prq4uERGXJTW3\nnCIiIrBjxw64ublZvUbungFpueWmVCqRlpYGLy8vAEBcXBxGR0dX3IppkZx9S80st6CgICiVSiws\nLMBgMEClUll8EXSE57WU3I7gzZs32Lp1KzZs2GDV8VK6FnJmMzo6CqVSCZVKhfLycuTl5cHHxwda\nrXbVS1I/f/5EeHg4WltbMTExgbCwMLs+WaTmBoDp6WncvHkTKpUK8fHxSE1NtVPqP2zZmVvunpey\ndUdxuXteqr+/H56enituxbTIkfq2NjMgf9fPnj1De3s7lEolioqKLO7R5Sg925obkLfrqakpdHR0\n4OTJk9BoNFatkdK1kGGj0+mgUqkwNzcHrVaL2dlZuLi4WLxcsrhOq9VifHwcUVFRNl1iWSupuQMC\nAlBcXAxfX18MDQ1BrVbD09MTu3btslNy2PTTk9w9L2VLbkfoedHs7Czq6+uxf/9+i8c6St+2ZHaE\nrg8cOIDs7Gy8f/8e1dXVKC4uXvWF21F6tjW33F03NDQgNTV11c2V/01K10Iuo6lUKuh0Ovzzzz+4\nePEiQkNDMTc3BxcXF6vWZWdno6CgAHNzcxavdf5NUnN7eHiYdq8ODg5GUlISvn79ao/IJracIcjd\n81K25HaEngFAr9dDrVYjJibGqvcDHKFvWzM7StdOTk5ISkqCUqk0229xOY7Q8yJbcsvZ9Y8fPzA2\nNoaYmBjTfdb8n5TStZAzGx8fH+j1ekxOTsLLywt6vR6jo6Pw8/NbdZ2fnx+0Wq3p9sjIiF0/kSE1\ntyOw5QxB7p6XWg/Xs5cyGo2oqqqCn58fMjIyrFojd99SMjsaa14A5e55ObZeJra3gYEB9Pf348qV\nK6b7+vr6MDIysuoZsJSuhZzZuLq6IjIyEi0tLZifn0drayu8vb3N3vd48OABXr58abYuOjoaX758\nwcjICCYnJ/Hx40eziSua1Ny9vb0YHx8H8Kf0t2/fYtu2bXbJbDQaMT8/D6PRiIWFBej1ehiNxlXz\nyt2z1Nxy9ryotrYWCoUCOTk5y37dEfuWklnOrn/9+oUPHz5gdnYWBoMB7969w/T0tNku8Y7Ys9Tc\ncna9d+9eXLt2zfQnPDwceXl5ZoPmb3Ut7KPPubm5qK6uxo0bN+Dv74/Dhw+bfX18fBw+Pj5m94WE\nhCA9PR0VFRUwGo1ISEiw68cWAWm5BwcHUVVVhbm5OXh4eCAxMdFu11s/ffqEmpoa0+3Ozk6kpaUh\nPT19xbyO0LOU3HL2DABjY2Nob2+Hs7Mzrl+/brr/6NGjCAsLWzG3nH1LzSxn1wqFAl1dXWhsbITB\nYEBAQAAKCgrMPtTgaD2vJbfcz2tL/lbX3IiTiIiE43Y1REQkHIcNEREJx2FDRETCcdgQEZFwHDZE\nRCQchw0REQnHYUNERMJx2BARkXD/AbX8bkDYv1fuAAAAAElFTkSuQmCC\n", + "png": "iVBORw0KGgoAAAANSUhEUgAAAZsAAAGzCAYAAAD5Z7qjAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\niIT7L6NdmT4PO7VdAAAAAElFTkSuQmCC\n", "text": [ - "" + "" ] } ], - "prompt_number": 47 + "prompt_number": 4 }, { "cell_type": "markdown", diff --git a/Chapter06_Multivariate_Kalman_Filter/ellipse.gif b/Chapter06_Multivariate_Kalman_Filter/ellipse.gif index d56c32a..03255a3 100644 Binary files a/Chapter06_Multivariate_Kalman_Filter/ellipse.gif and b/Chapter06_Multivariate_Kalman_Filter/ellipse.gif differ