diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..097c3b399318131da767ffa9474b4e686c6f9a1e
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,56 @@
+# Created by https://www.toptal.com/developers/gitignore/api/macos,visualstudiocode
+# Edit at https://www.toptal.com/developers/gitignore?templates=macos,visualstudiocode
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### macOS Patch ###
+# iCloud generated files
+*.icloud
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
+
+# End of https://www.toptal.com/developers/gitignore/api/macos,visualstudiocode
diff --git a/Exercise/EKF_UKF/task1.ipynb b/Exercise/EKF_UKF/task1.ipynb
index 7ef82a7e1640471147f702d7756aa84821871747..a8ba1c66f568f838ec02f6bd4ceaf04f5d30e266 100644
--- a/Exercise/EKF_UKF/task1.ipynb
+++ b/Exercise/EKF_UKF/task1.ipynb
@@ -2,32 +2,33 @@
"cells": [
{
"cell_type": "code",
- "execution_count": 16,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"import numpy as np\n",
"import matplotlib.pyplot as plt\n",
"import seaborn as sns\n",
- "import pandas as pd"
+ "from seaborn import despine\n",
+ "import pandas as pd\n",
+ "\n",
+ "sns.set(style='white', rc={'lines.linewidth': 0.75})"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "In case you want your plots in external windows"
]
},
{
"cell_type": "code",
- "execution_count": 12,
+ "execution_count": null,
"metadata": {},
- "outputs": [
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "Using matplotlib backend: Qt5Agg\n"
- ]
- }
- ],
+ "outputs": [],
"source": [
- "%matplotlib\n",
- "sns.set(style='white', rc={'lines.linewidth': 0.75})"
+ "# %matplotlib"
]
},
{
@@ -46,7 +47,7 @@
},
{
"cell_type": "code",
- "execution_count": 9,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
@@ -68,7 +69,7 @@
},
{
"cell_type": "code",
- "execution_count": 21,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
@@ -78,15 +79,15 @@
"x[:, 0] = x0\n",
"\n",
"u = np.zeros((1, N))\n",
- "u[0][np.logical_and(t >= 5, t < 10)] = -1\n",
- "u[0][np.logical_and(t >= 10, t < 12)] = 0\n",
- "u[0][np.logical_and(t >= 12, t < 15)] = 1\n",
- "u[0][np.logical_and(t >= 15, t < 17)] = -1\n",
+ "u[0][(t >= 5) & (t < 10)] = -1\n",
+ "u[0][(t >= 10) & (t < 12)] = 0\n",
+ "u[0][(t >= 12) & (t < 15)] = 1\n",
+ "u[0][(t >= 15) & (t < 17)] = -1\n",
"\n",
"for ti in np.arange(0, N-1):\n",
- " x[:, ti+1] = model['f'](x[:, ti], u[0, ti], 0)\n",
+ " x[:, ti + 1] = model['f'](x[:, ti], u[0, ti], 0)\n",
"y0 = model['h'](x, u)\n",
- "y = y0 + (np.diag([0.6, 0.03])@np.random.normal(0, 1, size=(2, N)))\n",
+ "y = y0 + (np.diag([0.6, 0.03]) @ np.random.normal(0, 1, size=(2, N)))\n",
"data = {'t': t, 'x': x, 'u': u, 'y0': y0, 'y': y}"
]
},
@@ -99,18 +100,18 @@
},
{
"cell_type": "code",
- "execution_count": 22,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
- "plt.figure(10, clear=True)\n",
- "plt.plot(data['x'][0, :], data['x'][1, :])\n",
- "plt.plot(data['x'][0, 0], data['x'][1, 0], 'bo')\n",
- "plt.plot(data['x'][0, -1], data['x'][1, -1], 'rx')\n",
- "plt.axis('square')\n",
- "plt.xlabel('x')\n",
- "plt.ylabel('y')\n",
- "sns.despine()"
+ "_, ax = plt.subplots(num=10, clear=True)\n",
+ "ax.plot(data['x'][0, :], data['x'][1, :])\n",
+ "ax.plot(data['x'][0, 0], data['x'][1, 0], 'bo')\n",
+ "ax.plot(data['x'][0, -1], data['x'][1, -1], 'rx')\n",
+ "ax.axis('square')\n",
+ "ax.set_xlabel('x')\n",
+ "ax.set_ylabel('y')\n",
+ "despine(ax=ax)"
]
},
{
@@ -122,27 +123,24 @@
},
{
"cell_type": "code",
- "execution_count": 23,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
- "plt.figure(20, clear=True)\n",
- "plt.subplot(2, 1, 1)\n",
- "plt.plot(data['t'], data['y0'][0], 'b', lw=2)\n",
- "plt.plot(data['t'], data['y'][0], 'r')\n",
- "plt.xlabel('t [s]')\n",
- "plt.ylabel('[m]')\n",
- "plt.title('Range measurement')\n",
- "sns.despine()\n",
+ "_, ax = plt.subplots(2, 1, num=20, clear=True, layout=\"tight\")\n",
+ "ax[0].plot(data['t'], data['y0'][0], 'b', lw=2)\n",
+ "ax[0].plot(data['t'], data['y'][0], 'r')\n",
+ "ax[0].set_xlabel('t [s]')\n",
+ "ax[0].set_ylabel('[m]')\n",
+ "ax[0].set_title('Range measurement')\n",
+ "despine(ax=ax[0])\n",
"\n",
- "plt.subplot(2, 1, 2)\n",
- "plt.plot(data['t'], data['y0'][1]*180/np.pi, 'b', lw=2)\n",
- "plt.plot(data['t'], data['y'][1]*180/np.pi, 'r')\n",
- "plt.xlabel('t [s]')\n",
- "plt.ylabel('[deg]')\n",
- "plt.title('Angle measurement')\n",
- "sns.despine()\n",
- "plt.tight_layout()"
+ "ax[1].plot(data['t'], data['y0'][1]*180/np.pi, 'b', lw=2)\n",
+ "ax[1].plot(data['t'], data['y'][1]*180/np.pi, 'r')\n",
+ "ax[1].set_xlabel('t [s]')\n",
+ "ax[1].set_ylabel('[deg]')\n",
+ "ax[1].set_title('Angle measurement')\n",
+ "despine(ax=ax[1])"
]
},
{
@@ -161,7 +159,7 @@
},
{
"cell_type": "code",
- "execution_count": 28,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
@@ -179,20 +177,20 @@
},
{
"cell_type": "code",
- "execution_count": 31,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
- "plt.figure(30, clear=True)\n",
- "plt.plot(data['x'][0], data['x'][1])\n",
- "plt.plot(data['x'][0, 0], data['x'][1, 0], 'bo')\n",
- "plt.plot(data['x'][0, -1], data['x'][1, -1], 'rx')\n",
- "plt.plot(pos_hat_0[0], pos_hat_0[1], 'k')\n",
- "plt.axis('square')\n",
- "plt.xlabel('x')\n",
- "plt.ylabel('y')\n",
- "plt.title('Direct computation from measurements')\n",
- "sns.despine()"
+ "_, ax = plt.subplots(num=30, clear=True)\n",
+ "ax.plot(data['x'][0], data['x'][1])\n",
+ "ax.plot(data['x'][0, 0], data['x'][1, 0], 'bo')\n",
+ "ax.plot(data['x'][0, -1], data['x'][1, -1], 'rx')\n",
+ "ax.plot(pos_hat_0[0], pos_hat_0[1], 'k')\n",
+ "ax.axis('square')\n",
+ "ax.set_xlabel('x')\n",
+ "ax.set_ylabel('y')\n",
+ "ax.set_title('Direct computation from measurements')\n",
+ "despine(ax=ax)"
]
},
{
@@ -204,26 +202,22 @@
},
{
"cell_type": "code",
- "execution_count": 32,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
- "plt.figure(31, clear=True)\n",
- "plt.subplot(2, 1, 1)\n",
- "plt.plot(data['t'], data['x'][0] - pos_hat_0[0])\n",
- "plt.xlabel('t [s]');\n",
- "plt.ylabel('[m]')\n",
- "plt.title('x position error in direct computation');\n",
- "sns.despine()\n",
- "\n",
- "plt.subplot(2, 1, 2)\n",
- "plt.plot(data['t'], data['x'][1] - pos_hat_0[1])\n",
- "plt.xlabel('t [s]');\n",
- "plt.ylabel('[m]')\n",
- "plt.title('y position error in direct computation')\n",
- "sns.despine()\n",
+ "_, ax = plt.subplots(2, 1, num=31, clear=True, layout=\"tight\")\n",
+ "ax[0].plot(data['t'], data['x'][0] - pos_hat_0[0])\n",
+ "ax[0].set_xlabel('t [s]');\n",
+ "ax[0].set_ylabel('[m]')\n",
+ "ax[0].set_title('x position error in direct computation');\n",
+ "despine(ax=ax[0])\n",
"\n",
- "plt.tight_layout()"
+ "ax[1].plot(data['t'], data['x'][1] - pos_hat_0[1])\n",
+ "ax[1].set_xlabel('t [s]');\n",
+ "ax[1].set_ylabel('[m]')\n",
+ "ax[1].set_title('y position error in direct computation')\n",
+ "despine(ax=ax[1])"
]
},
{
@@ -242,7 +236,7 @@
},
{
"cell_type": "code",
- "execution_count": 34,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
@@ -280,7 +274,7 @@
},
{
"cell_type": "code",
- "execution_count": 35,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
@@ -352,7 +346,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
- "version": "3.9.0"
+ "version": "3.11.0"
}
},
"nbformat": 4,
diff --git a/Lectures/slides_3.pdf b/Lectures/slides_3.pdf
index 853c0d2ac7033e4ff2219444f0e35ff8d4f8290a..e7263263b9b39ac7e316f7a809a5a6820fae3042 100644
Binary files a/Lectures/slides_3.pdf and b/Lectures/slides_3.pdf differ