WIP: fixed equations for cte

notebook/equations.ipynb

@@ -9,7 +9,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 120,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [
     {
@@ -26,7 +26,7 @@
        "[0, 0,             0, v*cos(psi), 0]])"
       ]
      },
-     "execution_count": 120,
+     "execution_count": 1,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -37,10 +37,10 @@
     "x,y,theta,psi,cte,v,w = sp.symbols(\"x y theta psi cte v w\")\n",
     "\n",
     "gs = sp.Matrix([[ sp.cos(theta)*v],\n",
-    "             [ sp.sin(theta)*v],\n",
-    "             [w],\n",
-    "             [-w],\n",
-    "             [ v*sp.sin(psi)]])\n",
+    "               [ sp.sin(theta)*v],\n",
+    "               [w],\n",
+    "               [-w],\n",
+    "               [ v*sp.sin(psi)]])\n",
     "\n",
     "state = sp.Matrix([x,y,theta,psi,cte])\n",
     "\n",
@@ -79,6 +79,13 @@
     "gs.jacobian(state)"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
   {
    "cell_type": "markdown",
    "metadata": {},