I need to change some of the colors because they do not render
well when next to each other, as is common when I am plotting
filter output vs measurement. For now I made the yellow color
last as it is the hardest to see.
UKF chapter's headings were all messed up in the PDF output. I added
an exercise to use the unscented transform on the 5,000 point nonlinear
monte carlo example from the beginning of the chapter.
I was plotting velocity, not position of filter in one plot.
Also, wrote a initialize_filter function so all plot start
with the filter initialized to the same value.
When editting a notebook I tend to rerun the cells many times.
But imports are only done once, so the code in book_format()
is only run the first time. I put all of that code in a function
so that it is run every time.
Added more examples, and added more charts to illustrate what
I was talking about. Notably, added error bars to the weight
readings to make the possible range of values clear.
I read the matplotlib rcParams from a json file. The json module
always uses Unicode, but this does not work in Python 2.7. This
was causing the plots not to appear if using Python 2.7.
Wrote code to detect Python version and to convert to ASCII if
Python version 2.
I got the original code from the author, Cameron Davidson-Pilon,
modified it for the minor changes I make for the book, and put it
in 538.json. The main gain is that somebody doesn't need bleeding
edge matplotlib installed to get the 538 look.
I made the update() and predict() functions alter the belief array
in place rather than returning the value in a new array. I find this
far more readable and less error prone.
Several changes and clarifications. Added chart showing 2d distribution
of points for multivariate gaussian. Improved some discussions. Fixed
some typos.
Added section in math chapter for Bayesian statistics, and improved
on the discussion of system dynamics.
The PDF generator cannot deal with the markdown for section headings
(using hash marks), so I needed to fix chapters that use them.
Appendix B still uses them, but for now that is just a list of
notes for myself, so I left that alone.
This contains the new PDF generated from these changes.
Roger Labbe