Commit Graph

668 Commits

Author SHA1 Message Date
Roger Labbe
5f593639d8 Altered plot styles.
Lines seemed to thick to see what is happening when they are close
to each other. Changed line width to 2.
2015-06-22 17:56:14 -07:00
Roger Labbe
51c9a8283e Wholesale changes to connect chapters together.
I made a lot of changes so that each chapter makes clear that
they are all implementing the same basic bayesian algorithm.

This required a lot of editting, and it doesn't make sense to
try to do that atomically, hence this huge check in.

I made a lot of edits, and haven't copy editted anything. i'm
sure I introduced a lot of problems and discontinuities.
2015-06-20 15:52:16 -07:00
Roger Labbe
5ffe5c67eb Added UKF/EKF comparison.
Had to adjust some examples and rerun notebooks in several places
to account for some code chantes that I made.
2015-06-17 09:12:31 -07:00
Roger Labbe
87e6f5c6e7 Removed testing code. 2015-06-17 08:04:06 -07:00
Roger Labbe
adba3e5915 Renamed a function. 2015-06-16 22:10:42 -07:00
Roger Labbe
41673aab60 Added reference to computing PDF notebook. 2015-06-16 22:07:09 -07:00
Roger Labbe
d280a9f344 Added supporting notebooks subfolder.
Wrote a notebook explaining how to plot PDFs and run monte
carlo simulations and compute their results.
2015-06-16 21:56:21 -07:00
Roger Labbe
1633d9cda9 Added fixed lag section. 2015-06-13 20:05:10 -07:00
Roger Labbe
d574383175 Updated required version for FilterPy. 2015-06-13 13:23:06 -07:00
Roger Labbe
4adfc8ca50 Changes in test code for ukf - not for book. 2015-06-13 13:22:43 -07:00
Roger Labbe
1152bf053d Fixed angle normalization bug. 2015-06-13 13:21:17 -07:00
Roger Labbe
4c712918b8 Updated for UKF bug fixes. Added summary. 2015-06-13 13:20:29 -07:00
Roger Labbe
61d6931b3a Before major UKF change.
this is not an atomic check in. Probably won't even run.Just saving
my place before making some big changes.
2015-06-13 09:23:11 -07:00
Roger Labbe
aadc5abaf6 Added robot steering example to UKF. 2015-06-09 19:39:39 -07:00
Roger Labbe
3c3a5e5bf6 Final updates before merge to trunk.
Updated to work with FilterPy 0.0.19.
2015-06-08 19:21:18 -07:00
Roger Labbe
88d200b9a8 Robot localization example added.
Still needs work; code is messy, and Q is not computed. But I am
getting correct results.

Also need to expand explanations and scenarios.

Need to remove now redundant explanations in EKF chapter, since
they exist in the UKF chapter.
2015-06-08 07:23:52 -07:00
Roger Labbe
f8057cd917 UKF chapter updated for Merwe parametization.
Chapter is not complete; checking in because I am beginning to alter
the formulation of unscented_transform in filterpy.
2015-06-07 17:03:35 -07:00
Roger Labbe
9c09133b5b Working with Merwe formulation. 2015-06-07 16:43:38 -07:00
Roger Labbe
758bd2c7f4 Working for UKF rename.
Most of the text is wrong, but changed code to use the
renamed ScaledUnscentedKalmanFilter.

Checking in with bad text because I am in the process of changing
FilterPy to use a class for the sigma points to make it easier
to change the sigma point generation, leaving us with one
UKF class instead of several.
2015-06-06 19:49:56 -07:00
Roger Labbe
85eccf7a21 Moved extraneous chapters to appendix. 2015-05-31 15:20:44 -07:00
Roger Labbe
2c8a2d0a8e Updated robot localization example.
Put into a function, added parameters so we can run the alg
with different landmarks and sigmas.
2015-05-31 14:30:53 -07:00
Roger Labbe
54bce9d7a0 Added EKF robot localization example.
Still needs a lot of explanation; mostly the implementation is there
for now.
2015-05-30 14:44:49 -07:00
Roger Labbe
36d45b35bb latex needed a space after \pm for some reason.
This rendered fine in the notebook, but pdf generation
choked.
2015-05-28 17:22:17 -07:00
Roger Labbe
2271c96dbd Merge branch 'master' of https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python 2015-05-24 17:03:13 -07:00
Roger Labbe
449579fd64 Added PDF to ignore
We don't check in the PDF anymore because it makes the repository
far too big.
2015-05-24 17:02:30 -07:00
Roger Labbe
163052bcb1 Minor edits.
changed variable name, cleaned up a few expressions.
2015-05-24 17:00:26 -07:00
Roger Labbe
a30013c00d Expanded description of multiple updates.
Put in context of future EKF localization problem where we
perform several updates in a row, one for each landmark.
2015-05-24 16:55:28 -07:00
Roger Labbe
78d5644769 Merge pull request #44 from dduong42/master
Add `dt` to the argument list.
2015-05-23 12:16:49 -07:00
Daniel DUONG
4c05ec2b49 Add dt to the argument list. 2015-05-23 21:12:16 +02:00
Roger Labbe
6334c3eaa9 Merge pull request #43 from dduong42/patch-1
Fix installation link in README
2015-05-23 10:59:51 -07:00
Daniel Duong
845511b9d6 Fix installation link in README 2015-05-23 19:54:24 +02:00
Roger Labbe
3796453e1c Switched train speed to value evenly divisible.
This makes the example clearer since there is no round off error.
2015-05-23 09:43:13 -07:00
Roger Labbe
3cce5adf64 Fixed math for train. 2015-05-23 09:27:56 -07:00
Roger Labbe
4f1558b12a Added link to PDF.
I removed the PDF from the repository, but people still want the PDF. I put a copy on my google drive, and another on PDF archive. Not sure which, if either, I will maintain for the long term.
2015-05-22 12:44:05 -07:00
Roger Labbe
e18106920b Adjusted latex font.
The Jacobian matrices were rendering way to small to read, so I
changed the font and increased the font size.
2015-05-21 15:47:46 -07:00
Roger Labbe
7725ab03f5 Improved nbviewer documentation. 2015-05-19 20:15:18 -07:00
Roger Labbe
26fe2968e4 Removed links to PDF.
I removed the PDF from the repository because git does poorly with
binary objects.
2015-05-19 20:12:32 -07:00
Roger Labbe
8a9ecc026e Revisions based on Radford's comments. 2015-05-19 18:25:54 -07:00
Roger Labbe
2e0e513912 Merge pull request #35 from pquentin/master
Fix issue #16 properly without centered headers
2015-05-19 18:00:14 -07:00
Roger Labbe
8399c6d4d6 Merge pull request #39 from pkulchenko/extended-kalman-chapter-typo
Fixed small typo in Extended Kalman chapter.
2015-05-19 17:59:47 -07:00
Roger Labbe
19f98e0022 Typos, standardize eq. format. 2015-05-19 17:39:33 -07:00
Roger Labbe
3bc058f2bb Fixed math symbology of equations. 2015-05-19 16:53:41 -07:00
Roger Labbe
f92ea90944 Added explanation for is distributed by symbol. 2015-05-19 16:53:05 -07:00
Paul Kulchenko
32861cac1e Fixed small typo in Extended Kalman chapter. 2015-05-15 13:22:41 -07:00
Roger Labbe
ced8b3e57d Fixed name of control input function step. 2015-05-12 19:55:21 -07:00
Roger Labbe
c39be41303 Merge pull request #37 from Gluttton/master
Minor fixes of README layout
2015-05-12 12:17:31 -07:00
Gluttton
d3a9fc77e5 Minor fixes of Markdown layout. 2015-05-12 21:31:01 +03:00
Roger Labbe
167a904de5 All examples use 10 cells now.
Due to uneven editing some of the examples used 10 hallway
locations, and others used less. I normalized on 10.
2015-05-11 21:21:56 -07:00
Roger Labbe
27e656184a file rename. 2015-05-11 20:39:21 -07:00
Roger Labbe
8e1fc9ca75 checked in PF chapter by mistake. 2015-05-11 16:25:24 -07:00