daviddoji/Kalman-and-Bayesian-Filters-in-Python
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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
Roger Labbe 6334c3eaa9 Merge pull request #43 from dduong42/patch-1 
Fix installation link in README
 2015-05-23 10:59:51 -07:00
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
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
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
Roger Labbe a544b0f898 Chapter renaming. 
Renamed the 1d kalman filter chapter with a better file name.
Changed references to 'histogram' filter to discrete bayes.

Backed out particle filter chapter; it is just babble at the moment.
 2015-05-11 16:21:38 -07:00
Roger Labbe 9dfc15ebf7 Fixed TOC links. 
I did not update the links to the new appendixes in the last
check in, so they were pointing to the old chapter names.
 2015-05-10 20:45:03 -07:00
Roger Labbe 6d9c500e50 Restructuring for print. 
I have moved less pertinent material to appendixes. The idea is that
a print edition should contain only the most important material,
and online appendixes allow the reader to access supplemental material.
 2015-05-10 19:12:44 -07:00
Roger Labbe a0b7a50b05 More math material for KF. 
Added better explanation of P = FPF' + Q.

Moved conversion of multivariate equations to univariate eqs. to the
math chapter.

Moved the walkthrough of KalmanFilter to an appendix.
 2015-05-10 18:28:45 -07:00
Roger Labbe 7c3fd7a2a6 Accidentally checked in this notebook. 
This notebook was a short lived experiment in removing the
Gaussian math in the KF chapter to its own chapter, mostly
to keep the KF chapter size smaller. But it really didn't
stand well on its own.
 2015-05-10 16:50:25 -07:00
Roger Labbe 8e7e8ce25a Rearranged np.array coverage. 
I was using np.arrays in chapter 1, but didn't explain them until
chapter 6. I moved the explanation to chapter 1, and removed use
of np.array where it wasn't needed.

Also added a bit of explanation to the Gaussian text.
 2015-05-10 16:45:35 -07:00
Roger Labbe 534d0cee88 Removed block, doesn't render on github. 
for some reason github cannot render the block character
in latex.
 2015-05-09 15:08:08 -07:00
Roger Labbe 65b4b59ba3 Changes for latex rendering in Github. 
Github cannot handle certain formatting of latex, so fixing
it.
 2015-05-09 14:45:06 -07:00
Roger Labbe f4909701f8 test notebook for latex render on github 2015-05-09 14:16:13 -07:00
Roger Labbe 3eb389f265 test notebook for latex render on github 2015-05-09 14:14:50 -07:00
Roger Labbe 8d94af0038 github latex formatting 2015-05-09 14:11:12 -07:00
Roger Labbe f4827bde7f github latex formatting 2015-05-09 14:05:14 -07:00
Roger Labbe 54bdf0e800 github latex formatting 2015-05-09 14:00:18 -07:00
Roger Labbe ef0d770c08 Formatting latex for github. 
It seems to want a blank line prior to the start of a $$ block.
 2015-05-09 13:53:02 -07:00
Roger Labbe d48d466831 github latex rendering experiment. 2015-05-09 13:39:50 -07:00
Roger Labbe 79fa14e4a4 github latex rendering experiment. 2015-05-09 13:37:08 -07:00
Roger Labbe e38d9555cd Experiment for github rendering of latex. 2015-05-09 13:35:26 -07:00
Roger Labbe 0ad4de7de7 Experimental change for github rendering 
Latex is not rendering properly when viewed in Github. Trying to
figure out why.
 2015-05-09 13:23:30 -07:00
Roger Labbe 08028d2976 Minor typo fixes 2015-05-09 13:07:49 -07:00
Roger Labbe cde551531a Update README.md 
Anorther formatting error. Clearly I am not a markdown pro.
 2015-05-09 10:43:38 -07:00
Roger Labbe 1bf9bb54d5 Update README.md 
Fixed formatting error.
 2015-05-09 10:42:08 -07:00
Roger Labbe 86ec001e34 Update README.md 
Moved warning about IPython 3.0 change down to where I talk about downloading t
he book to run in Jupyter. Added description of how we can now read notebooks
directly in Github.
 2015-05-09 10:39:39 -07:00
Roger Labbe a1356c117a Merge branch 'master' of https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python 2015-05-09 10:28:48 -07:00
Roger Labbe 752320ad01 Formatting and experiments. 
Let this check in get away from me. Bunch of small formatting sttuf
in the various chapters, some experimental animations and code, etc.
Not a clearly delineated check in.
 2015-05-09 10:21:36 -07:00
Roger Labbe d68f43c451 Merge pull request #36 from Gluttton/master 
One Dimensional Kalman Filters: fixed typo in code snippet of multiplying of Gaussians.
 2015-05-04 20:53:20 -07:00
Roger Labbe 54362a59a3 Merge pull request #34 from sieben/patch-1 
fix broken link
 2015-05-03 10:52:31 -07:00
Roger Labbe c091cb208f Merge pull request #33 from Gluttton/master 
One Dimensional Kalman Filters: wrong color of curve in plot description
 2015-05-03 08:06:22 -07:00
Roger Labbe a3cd023d3b Code cleanup 
Removed commented out code and unneeded imports.
 2015-05-01 10:49:12 -07:00
Roger Labbe f4d218e1b4 Fixed PDF output; blank Particle filter chapter. 
The PDF was not setting the Preface as a unnumbered chapter.
I think there is more work to get it's subsections unnumbered.

Added empty Particl filter chapter. Had to renumber the chapters
to make it fit in.
 2015-05-01 10:42:53 -07:00
Roger Labbe 08123b0d15 Regenerated PDF 2015-05-01 07:05:53 -07:00
Roger Labbe 4fef1138f7 Fixed merge problem. 
Somehow there was a missing comma in the JSON, making it unloadable.
 2015-05-01 06:58:02 -07:00
Roger Labbe cd8c170b7c Removed redundant material. 
there was a long explanation of nonlinear filtering which was moved
to the nonlinear filtering chapter, but not removed from here.
 2015-05-01 06:30:02 -07:00
Roger Labbe 95cbe78f46 Reordered material to more reasonable order. 2015-05-01 06:29:05 -07:00
Roger Labbe 148db5f889 Merge branch 'master' of https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python 2015-05-01 06:28:11 -07:00
Roger Labbe 348474a570 Merge pull request #31 from Gluttton/master 
The g-h Filter: trivial formating issues
 2015-05-01 06:27:47 -07:00
Roger Labbe 1022e69bf5 Merge pull request #30 from Gluttton/master 
Discrete Bayes Filter: events in example of conditional probability are put vice-versa
 2015-04-29 12:57:53 -07:00
Roger Labbe f1d893770c Merge pull request #27 from mrshu/mrshu/g-h-filter-fix 
g-h_filter: Small changes
 2015-04-27 09:15:50 -07:00
Roger Labbe 904759f60c Fixed off by one error. 2015-04-26 14:49:39 -07:00
Roger Labbe bb23c9ea6b Merge pull request #28 from Gluttton/master 
The g-h Filter: trivial fixes.
 2015-04-25 07:56:00 -07:00
Roger Labbe b4acfb0b84 Merge pull request #26 from Gluttton/master 
Trivial issue: fixed broken link on the Installation appendix.
 2015-04-22 13:23:06 -07:00
Roger Labbe 13e129165e Fixed blank graph. 2015-04-20 21:25:06 -07:00
Roger Labbe ba97e31cf7 title cannot have latex in it 
I forgot - either nbconvert, pandoc, or latex is causing a problem
when I put the greek symbols for alpha-beta in a title.
 2015-04-20 21:24:08 -07:00
Roger Labbe db892b40e8 Chapter rename and better TOC. 
Added Alpha-beta to the g-h filter title to help with SEO (book is
second result for a search on g-h, doesn't seem to come up at all for
a search on alpha-beta).

Since I had to alter the TOC I went ahead and improved the chapter
descriptions.
 2015-04-20 20:50:43 -07:00
Roger Labbe 8bae16b811 Changes to condense material. 
Lots of small changes to try to get page count down. I'm not liking
this.
 2015-04-20 17:14:51 -07:00
Roger Labbe dda63fb329 This extension does not work with IPython 3+. 2015-04-19 09:36:46 -07:00
Roger Labbe 0086fcd201 Changes to bring page count down. 
Made plots smaller, moved legends outside of plot (so smallersize
is still readable), moved plotting code into external modules.
 2015-04-18 14:52:41 -07:00
Roger Labbe f6855f1bb6 minor text changes. 2015-04-18 08:56:46 -07:00
Roger Labbe 3c99a6f11b Minor textual changes. 2015-04-13 20:04:02 -07:00
Roger Labbe e8daa7902f Merge pull request #24 from amfl/master 
Fixed minor typos
 2015-04-13 17:31:31 -07:00
Roger Labbe 7f3a50aee4 Made LaTeX font smaller. 
It was rather too large, especially when inline with text. I might
have gone just a *tad* too far in the other direction, but it mostly
looks very good now.
 2015-04-08 21:08:55 -07:00
Roger Labbe 73f54b1970 Added Bayesian information. 
Major revamping - a lot of bayesian math has been added, and the
examples have been tweaked. I corrected a major confusion in the
update function - I was scaling, but said I was multipling by a
probability.

Also modifed the css for mathjax so that the font renders in a more
reasonable form.
 2015-04-08 20:17:22 -07:00
Roger Labbe 7a5f84e5f9 Fix for github issue #16 
The CSS was causing the text bounding box to slightly overlap the
text. A kind person explained the problem by posting to issue 16.

However, his change didn't work. I removed the width field and for
some reason all the headings centered themselves. I tried changing
their alignment and that didn't work. I comprimised by changing 750
to 540 and that worked.

I also slightly changed the font size. It was almost comically large.
 2015-04-06 20:29:55 -07:00
Roger Labbe 9d6089d8b3 Merge pull request #23 from enter-the-bot/first-chapter-typos-fix 
fixed some typos
 2015-04-06 08:55:49 -07:00
Roger Labbe 421160a6a5 fixed script error 2015-04-05 22:10:01 -07:00
Roger Labbe a9f602f9c6 Removed bash cmd 2015-04-05 22:00:07 -07:00
Roger Labbe bb9b378545 Fixed train example. 
May not be perfect, but the checked in version is wrong so I want
to get it out there ASAP.
 2015-04-05 21:48:14 -07:00
Roger Labbe 45bc5d9395 Merge branch 'master' of https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python 2015-04-05 12:30:09 -07:00
Roger Labbe 6bca6b56ec Converted update_pdf to windows bat file 2015-04-05 12:29:23 -07:00
Roger Labbe 6b7368f91b Made graphs smaller. 
Most of the graphs were really too tall. Well, we can quibble about that
but I made them smaller to reduce the PDF size and thus print size
of the full book.
 2015-04-05 12:26:21 -07:00
Roger Labbe f6dfbbbd1e Smallified plots. 
Plots were really tall, which made for a lot of scrolling online, and
wasted paper for print.
 2015-04-05 11:50:55 -07:00
Roger Labbe d1eb25e5c6 bookmarking code 
Current code is bad, and will be revising heavily,
but want to save this in case i need to backtrack.
 2015-04-04 17:38:40 -07:00
Roger Labbe a4342dabaf Merge pull request #22 from pquentin/master 
Remove duplicated paragraph
 2015-04-04 15:57:00 -07:00
Roger Labbe b647e3724b Added ignore of .bak files 2015-04-04 11:28:35 -07:00
Roger Labbe d957cd7af1 Trying to fix line endings. 2015-04-04 11:19:49 -07:00
Roger Labbe 7f2b152c9d Fixed PDF generation in Windows 2015-04-04 10:30:50 -07:00
Roger Labbe c92aaee306 Removed noteboook of entire book. 
I had checked it in to share it with people while debugging issues
in IPython notebook. But now it is confusing people who think it is
a separate notebook. This is jsut the notebook that I create to generate
the PDF, and should not be checked in.
 2015-04-03 23:39:48 -07:00
Roger Labbe adb3f9a499 PEP-8 compliance 2015-04-03 23:38:49 -07:00