From ff55c01efb890ebf45d3a2f7824a654826966698 Mon Sep 17 00:00:00 2001 From: Roger Labbe Date: Wed, 17 Sep 2014 17:30:14 -0700 Subject: [PATCH] Altered title so numbers lined up the numbers in the matrix did not line up, making it a bit hard to read. --- .../animations.ipynb | 20 +++++++++--------- .../ellipse.gif | Bin 412413 -> 418161 bytes 2 files changed, 10 insertions(+), 10 deletions(-) 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": 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Cu0nX6pJogRg2RB0gmStjOJZGKB+GRivAY+++yZoT6vXxnmdOnQdeqxW9dvY8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\nLMBgMEClUll8EXSE57WU3I7gzZs32Lp1KzZs2GD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oSoKIUKyMbn0XvDYTDNrmvu/USnhmQ9RmJsY4G0v7oNVW4HFOP4tusxFFCf5I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\niWh6DJsmUSxXMBpOI5ANwGpWQKNqzvs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