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TuringLang · Feb 1, 2024 · bc9828e · bc9828e
1 parent 4791835
commit bc9828e
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/examples/extended-kalman-filter/script.jl b/examples/extended-kalman-filter/script.jl
@@ -42,7 +42,6 @@ function transition!!(::AbstractRNG, model::PendulumModel)
 end
 
 function transition!!(::AbstractRNG, model::PendulumModel, state::Gaussian)
- # Jacobian - Linearization
  Jf = jacobian(x -> f(x, model), state.μ)
  Jh = jacobian(x -> h(x, model), state.μ)
  pred = f(state.μ, model)
@@ -61,7 +60,7 @@ for t in 1:nstep
 end
 
 function ekf_correct(obs, state::Gaussian, model::PendulumModel)
- Jf = jacobian(x -> f(x, model), state.μ) 
+ Jf = jacobian(x -> f(x, model), state.μ)
  Jh = jacobian(x -> h(x, model), state.μ)
 
  S = model.R + Jh * state.Σ * Jh'