Fix Jacobian function description

AtsushiSakai · Nov 19, 2023 · 97ad5df · 97ad5df
1 parent c6707cf
commit 97ad5df
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/Localization/extended_kalman_filter/extended_kalman_filter.py b/Localization/extended_kalman_filter/extended_kalman_filter.py
@@ -98,9 +98,9 @@ def jacob_f(x, u):
     so
     dx/dyaw = -v*dt*sin(yaw)
     dx/dv = dt*cos(yaw)
+    dx/ds = dt*v*cos(yaw)
     dy/dyaw = v*dt*cos(yaw)
     dy/dv = dt*sin(yaw)
-    dx/ds = dt*v*cos(yaw)
     dy/ds = dt*v*sin(yaw)
     """
     yaw = x[2, 0]