{"action":"created","comment":{"url":"https://api.github.com/repos/harvard-cs205/cs205-homework/pulls/comments/39924615","id":39924615,"diff_hunk":"@@ -30,47 +32,114 @@\n     # Load true trajectory and plot it\n     # Normally, this data wouldn't be available in the real world\n     #####################\n+    \n+    TruTraj = np.loadtxt(\"P4_trajectory.txt\",dtype='float',delimiter=',')\n+    xTru_coords, yTru_coords, zTru_coords = TruTraj[:,0], TruTraj[:,1], TruTraj[:,2]\n \n-    # ax.plot(x_coords, y_coords, z_coords,\n-    #         '--b', label='True trajectory')\n+    #Plotting the true position\n+    ax.plot(xTru_coords, yTru_coords, zTru_coords, '--b', label='True trajectory')\n \n     #####################\n     # Part 2:\n     #\n     # Read the observation array and plot it (Part 2)\n     #####################\n-\n-    # ax.plot(x_coords, y_coords, z_coords,\n-    #         '.g', label='Observed trajectory')\n+    \n+    ObsTraj = np.loadtxt(\"P4_measurements.txt\",dtype='float',delimiter=',')\n+    xObs_coords, yObs_coords, zObs_coords = ObsTraj[:,0], ObsTraj[:,1], ObsTraj[:,2]\n+    \n+    #Plotting the measured position\n+    #ax.plot(xObs_coords, yObs_coords, zObs_coords,'.g', label='Observed trajectory')\n+    \n+    xtld = ObsTraj.dot(np.diag([1/rx, 1/ry, 1/rz])) # I decided to try and streamline this...\n+                                           #  which may be a sign that I'm getting comfy\n+    #Plotting the approximate position\n+    ax.plot(xtld[:,0],xtld[:,1],xtld[:,2],'.r', label='Approximate Position')                                        \n+    \n+    \n \n     #####################\n     # Part 3:\n     # Use the initial conditions and propagation matrix for prediction\n     #####################\n \n-    # A = ?\n-    # a = ?\n+\t#Propagation Matrix\n+    A = np.diag([1, 1, 1, 1-c*dt, 1-c*dt, 1-c*dt]) + np.diag([dt, dt, dt],3)","path":"HW0/P4/P4.py","position":52,"original_position":52,"commit_id":"659be7006314133744deb75be4734f9d15253d57","original_commit_id":"659be7006314133744deb75be4734f9d15253d57","user":{"login":"ymiyamot","id":3923311,"avatar_url":"https://avatars.githubusercontent.com/u/3923311?v=3","gravatar_id":"","url":"https://api.github.com/users/ymiyamot","html_url":"https://github.com/ymiyamot","followers_url":"https://api.github.com/users/ymiyamot/followers","following_url":"https://api.github.com/users/ymiyamot/following{/other_user}","gists_url":"https://api.github.com/users/ymiyamot/gists{/gist_id}","starred_url":"https://api.github.com/users/ymiyamot/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ymiyamot/subscriptions","organizations_url":"https://api.github.com/users/ymiyamot/orgs","repos_url":"https://api.github.com/users/ymiyamot/repos","events_url":"https://api.github.com/users/ymiyamot/events{/privacy}","received_events_url":"https://api.github.com/users/ymiyamot/received_events","type":"User","site_admin":false},"body":"This is a cute way of defining the matrix!  Good to know.","created_at":"2015-09-19T22:51:12Z","updated_at":"2015-09-19T22:51:12Z","html_url":"https://github.com/harvard-cs205/cs205-homework/pull/97#discussion_r39924615","pull_request_url":"https://api.github.com/repos/harvard-cs205/cs205-homework/pulls/97","_links":{"self":{"href":"https://api.github.com/repos/harvard-cs205/cs205-homework/pulls/comments/39924615"},"html":{"href":"https://github.com/harvard-cs205/cs205-homework/pull/97#discussion_r39924615"},"pull_request":{"href":"https://api.github.com/repos/harvard-cs205/cs205-homework/pulls/97"}}},"pull_request":{"url":"https://api.github.com/repos/harvard-cs205/cs205-homework/pulls/97","id":44497218,"html_url":"https://github.com/harvard-cs205/cs205-homework/pull/97","diff_url":"https://github.com/harvard-cs205/cs205-homework/pull/97.diff","patch_url":"https://github.com/harvard-cs205/cs205-homework/pull/97.patch","issue_url":"https://api.github.com/repos/harvard-cs205/cs205-homework/issues/97","number":97,"state":"open","locked":false,"title":"HW0b","user":{"login":"twkillian","id":13202501,"avatar_url":"https://avatars.githubusercontent.com/u/13202501?v=3","gravatar_id":"","url":"https://api.github.com/users/twkillian","html_url":"https://github.com/twkillian","followers_url":"https://api.github.com/users/twkillian/followers","following_url":"https://api.github.com/users/twkillian/following{/other_user}","gists_url":"https://api.github.com/users/twkillian/gists{/gist_id}","starred_url":"https://api.github.com/users/twkillian/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/twkillian/subscriptions","organizations_url":"https://api.github.com/users/twkillian/orgs","repos_url":"https://api.github.com/users/twkillian/repos","events_url":"https://api.github.com/users/twkillian/events{/privacy}","received_events_url":"https://api.github.com/users/twkillian/received_events","type":"User","site_admin":false},"body":"Included 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