update docs

Author: AtsushiSakai

AerialNavigation/rocket_powered_landing/figure.png

@@ -418,7 +418,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.6"
+   "version": "3.6.7"
   }
  },
  "nbformat": 4,

AerialNavigation/rocket_powered_landing/rocket_powered_landing.ipynb

@@ -148,20 +148,28 @@
     "\n",
     "Partial differential equations of the Hamiltonian are:\n",
     "\n",
-    "$\\frac{\\partial H}{\\partial \\bf{x}}=\\\\ \n",
-    "[\\frac{\\partial H}{\\partial x}= 0,\\\\\n",
-    "\\frac{\\partial H}{\\partial y}= 0,\\\\\n",
-    "\\frac{\\partial H}{\\partial \\theta}= -\\lambda_1vsin\\theta+\\lambda_2vcos\\theta,\\\\\n",
-    "\\frac{\\partial H}{\\partial v}=-\\lambda_1cos\\theta+\\lambda_2sin\\theta+\\lambda_3\\frac{1}{WB}sin(u_{\\delta})]\\\\\n",
-    "$\n",
-    "\n",
-    "\n",
-    "$\\frac{\\partial H}{\\partial \\bf{u}}=\\\\ \n",
-    "[\\frac{\\partial H}{\\partial u_a}= u_a+\\lambda_4+2\\rho_1u_a,\\\\\n",
-    "\\frac{\\partial H}{\\partial u_\\delta}= u_\\delta+\\lambda_3\\frac{v}{WB}cos(u_{\\delta})+2\\rho_2u_\\delta\\\\\n",
-    "\\frac{\\partial H}{\\partial d_a}= -\\phi_a+2\\rho_1d_a,\\\\\n",
-    "\\frac{\\partial H}{\\partial d_\\delta}=-\\phi_\\delta+2\\rho_2d_\\delta]\\\\\n",
-    "$"
+    "$\\begin{equation*}\n",
+    "\\frac{\\partial H}{\\partial \\bf{x}}=\\\\ \n",
+    "\\begin{bmatrix}\n",
+    "\\frac{\\partial H}{\\partial x}= 0&\\\\\n",
+    "\\frac{\\partial H}{\\partial y}= 0&\\\\\n",
+    "\\frac{\\partial H}{\\partial \\theta}= -\\lambda_1vsin\\theta+\\lambda_2vcos\\theta&\\\\\n",
+    "\\frac{\\partial H}{\\partial v}=-\\lambda_1cos\\theta+\\lambda_2sin\\theta+\\lambda_3\\frac{1}{WB}sin(u_{\\delta})&\\\\\n",
+    "\\end{bmatrix}\n",
+    "\\\\\n",
+    "\\end{equation*}$\n",
+    "\n",
+    "\n",
+    "$\\begin{equation*}\n",
+    "\\frac{\\partial H}{\\partial \\bf{u}}=\\\\ \n",
+    "\\begin{bmatrix}\n",
+    "\\frac{\\partial H}{\\partial u_a}= u_a+\\lambda_4+2\\rho_1u_a&\\\\\n",
+    "\\frac{\\partial H}{\\partial u_\\delta}= u_\\delta+\\lambda_3\\frac{v}{WB}cos(u_{\\delta})+2\\rho_2u_\\delta&\\\\\n",
+    "\\frac{\\partial H}{\\partial d_a}= -\\phi_a+2\\rho_1d_a&\\\\\n",
+    "\\frac{\\partial H}{\\partial d_\\delta}=-\\phi_\\delta+2\\rho_2d_\\delta&\\\\\n",
+    "\\end{bmatrix}\n",
+    "\\\\\n",
+    "\\end{equation*}$"
    ]
   },
   {
@@ -192,7 +200,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.6"
+   "version": "3.6.7"
   }
  },
  "nbformat": 4,

ArmNavigation/two_joint_arm_to_point_control/Planar_Two_Link_IK.ipynb

@@ -325,7 +325,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.6"
+   "version": "3.6.7"
   }
  },
  "nbformat": 4,

PathTracking/cgmres_nmpc/cgmres_nmpc.ipynb

@@ -37,6 +37,19 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
+    "### Simulation\n",
+    "\n",
+    "This is a feature based SLAM example using FastSLAM 1.0.\n",
+    "\n",
+    "The blue line is ground truth, the black line is dead reckoning, the red\n",
+    "line is the estimated trajectory with FastSLAM.\n",
+    "\n",
+    "The red points are particles of FastSLAM.\n",
+    "\n",
+    "Black points are landmarks, blue crosses are estimated landmark\n",
+    "positions by FastSLAM.\n",
+    "\n",
+    "\n",
     "![gif](https://github.com/AtsushiSakai/PythonRobotics/raw/master/SLAM/FastSLAM1/animation.gif)"
    ]
   },
@@ -487,7 +500,9 @@
     "\n",
     "The figure shows 100 particles distributed uniformly between [-0.5, 0.5] with the weights of each particle distributed according to a Gaussian funciton. \n",
     "\n",
-    "The resampling picks $i \\in 1,...,N$ particles with probability to pick particle with index $i \\propto \\omega_i $, where $\\omega_i$ is the weight of that particle\n",
+    "The resampling picks \n",
+    "\n",
+    "$i \\in 1,...,N$ particles with probability to pick particle with index $i ∝ \\omega_i$, where $\\omega_i$ is the weight of that particle\n",
     "\n",
     "\n",
     "To get the intuition of the resampling step we will look at a set of particles which are initialized with a given x location and weight. After the resampling the particles are more concetrated in the location where they had the highest weights. This is also indicated by the indices \n"
@@ -653,7 +668,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.5"
+   "version": "3.6.7"
   }
  },
  "nbformat": 4,

PathTracking/model_predictive_speed_and_steer_control/Model_predictive_speed_and_steering_control.ipynb

@@ -82,7 +82,8 @@ def main():
     # print(notebook_path_list)
 
     for npath in notebook_path_list:
-        generate_rst(npath)
+        if "template" not in npath:
+            generate_rst(npath)
 
     print("done!!")