roboticstoolbox-python 1.3.0__cp313-cp313-win_amd64.whl

roboticstoolbox/mobile/EKF.py

@@ -0,0 +1,1617 @@
+"""
+Python EKF Planner
+@Author: Peter Corke, original MATLAB code and Python version
+@Author: Kristian Gibson, initial MATLAB port
+"""
+
+from collections import namedtuple
+import numpy as np
+from scipy.linalg import block_diag
+from scipy.stats.distributions import chi2
+import matplotlib.pyplot as plt
+from matplotlib import animation
+
+from spatialmath import base, SE2
+from roboticstoolbox.mobile import VehicleBase
+from roboticstoolbox.mobile.landmarkmap import LandmarkMap
+from roboticstoolbox.mobile.sensors import SensorBase
+
+
+class EKF:
+    def __init__(
+        self,
+        robot,
+        sensor=None,
+        map=None,
+        P0=None,
+        x_est=None,
+        joseph=True,
+        animate=True,
+        x0=[0, 0, 0],
+        verbose=False,
+        history=True,
+        workspace=None,
+    ):
+        r"""
+        Extended Kalman filter
+
+        :param robot: robot motion model
+        :type robot: 2-tuple
+        :param sensor: vehicle mounted sensor model, defaults to None
+        :type sensor: 2-tuple, optional
+        :param map: landmark map, defaults to None
+        :type map: :class:`LandmarkMap`, optional
+        :param P0: initial covariance matrix, defaults to None
+        :type P0: ndarray(n,n), optional
+        :param x_est: initial state estimate, defaults to None
+        :type x_est: array_like(n), optional
+        :param joseph: use Joseph update of covariance, defaults to True
+        :type joseph: bool, optional
+        :param animate: show animation of vehicle motion, defaults to True
+        :type animate: bool, optional
+        :param x0: initial EKF state, defaults to [0, 0, 0]
+        :type x0: array_like(n), optional
+        :param verbose: display extra debug information, defaults to False
+        :type verbose: bool, optional
+        :param history: retain step-by-step history, defaults to True
+        :type history: bool, optional
+        :param workspace: dimension of workspace, see :func:`~spatialmath.base.graphics.expand_dims`
+        :type workspace: scalar, array_like(2), array_like(4)
+
+        This class solves several classical robotic estimation problems, which are
+        selected according to the arguments:
+
+        ======================    ======   ==========   ==========   =======   ======
+        Problem                   len(x)   ``robot``    ``sensor``   ``map``   ``P0``
+        ======================    ======   ==========   ==========   =======   ======
+        Dead reckoning            3        (veh,V)      None         None      P0
+        Map-based localization    3        (veh,V)      (smodel,W)   yes       P0
+        Map creation              2N       (veh,None)   (smodel,W)   None      None
+        SLAM                      3+2N     (veh,V)      (smodel,W)   None      P0
+        ======================    ======   ==========   ==========   =======   ======
+
+        where:
+
+        - ``veh`` models the robotic vehicle kinematics and odometry and is a :class:`VehicleBase` subclass
+        - ``V`` is the estimated odometry (process) noise covariance as an ndarray(3,3)
+        - ``smodel`` models the robot mounted sensor and is a :class:`SensorBase` subclass
+        - ``W`` is the estimated sensor (measurement) noise covariance as an ndarray(2,2)
+
+        The state vector has different lengths depending on the particular
+        estimation problem, see below.
+
+        At each iteration of the EKF:
+
+        - invoke the step method of the ``robot``
+
+          - obtains the next control input from the driver agent, and apply it
+            as the vehicle control input
+          - the vehicle returns a noisy odometry estimate
+
+        - the state prediction is computed
+        - the true pose is used to determine a noisy sensor observation
+        - the state is corrected, new landmarks are added to the map
+
+        The working area of the robot is defined by ``workspace`` or inherited
+        from the landmark map attached to the ``sensor`` (see
+        :func:`~spatialmath.base.graphics.expand_dims`):
+
+        ==============  =======  =======
+        ``workspace``   x-range  y-range
+        ==============  =======  =======
+        A (scalar)      -A:A     -A:A
+        [A, B]           A:B      A:B
+        [A, B, C, D]     A:B      C:D
+        ==============  =======  =======
+
+        **Dead-reckoning localization**
+
+        The state :math:`\vec{x} = (x, y, \theta)` is the estimated vehicle
+        configuration.
+
+        Create a vehicle with odometry covariance ``V``, add a driver to it,
+        run the Kalman filter with estimated covariances ``V`` and initial
+        vehicle state covariance ``P0``::
+
+            V = np.diag([0.02, np.radians(0.5)]) ** 2;
+            robot = Bicycle(covar=V)
+            robot.control = RandomPath(workspace=10)
+
+            x_sdev = [0.05, 0.05, np.radians(0.5)]
+            P0 = np.diag(x_sdev) ** 2
+            ekf = EKF(robot=(robot, V), P0=P0)
+
+            ekf.run(T=20)  # run the simulation for 20 seconds
+
+            robot.plot_xy(color="b")  # plot the true vehicle path
+            ekf.plot_xy(color="r")    # overlay the estimated path
+            ekf.plot_ellipse(filled=True, facecolor="g", alpha=0.3)  # overlay uncertainty ellipses
+
+            # plot the covariance against time
+            t = ekf.get_t();
+            pn = ekf.get_Pnorm()
+            plt.plot(t, pn);
+
+        **Map-based vehicle localization**
+
+        The state :math:`\vec{x} = (x, y, \theta)` is the estimated vehicle
+        configuration.
+
+        Create a vehicle with odometry covariance ``V``, add a driver to it,
+        create a map with 20 point landmarks, create a sensor that uses the map
+        and vehicle state to estimate landmark range and bearing with covariance
+        ``W``, the Kalman filter with estimated covariances ``V`` and ``W`` and
+        initial vehicle state covariance ``P0``::
+
+            V = np.diag([0.02, np.radians(0.5)]) ** 2;
+            robot = Bicycle(covar=V)
+            robot.control = RandomPath(workspace=10)
+
+            map = LandmarkMap(nlandmarks=20, workspace=10)
+
+            W = np.diag([0.1, np.radians(1)]) ** 2
+            sensor = RangeBearingSensor(robot=robot, map=map, covar=W, angle=[-np.pi/2, np.pi/2], range=4, animate=True)
+
+            x_sdev = [0.05, 0.05, np.radians(0.5)]
+            P0 = np.diag(x_sdev) ** 2
+            ekf = EKF(robot=(robot, V), P0=P0, map=map, sensor=(sensor, W))
+
+            ekf.run(T=20)  # run the simulation for 20 seconds
+
+            map.plot()  #  plot the map
+            robot.plot_xy(color="b")  # plot the true vehicle path
+            ekf.plot_xy(color="r")    # overlay the estimated path
+            ekf.plot_ellipse()  # overlay uncertainty ellipses
+
+            # plot the covariance against time
+            t = ekf.get_t();
+            pn = ekf.get_Pnorm()
+            plt.plot(t, pn);
+
+        **Vehicle-based map making**
+
+        The state :math:`\vec{x} = (x_0, y_0, \dots, x_{N-1}, y_{N-1})` is the
+        estimated landmark positions where :math:`N` is the number of landmarks.
+        The state vector is initially empty, and is extended by 2 elements every
+        time a new landmark is observed.
+
+        Create a vehicle with perfect odometry (no covariance), add a driver to it,
+        create a sensor that uses the map and vehicle state to estimate landmark range
+        and bearing with covariance ``W``, the Kalman filter with estimated sensor
+        covariance ``W``, then run the filter for N time steps::
+
+            robot = Bicycle()
+            robot.add_driver(RandomPath(20, 2))
+
+            map = LandmarkMap(nlandmarks=20, workspace=10, seed=0)
+
+            W = np.diag([0.1, np.radians(1)]) ** 2
+            sensor = RangeBearingSensor(robot, map, W)
+
+            ekf = EKF(robot=(robot, None), sensor=(sensor, W))
+
+            ekf.run(T=20)  # run the simulation for 20 seconds
+
+            map.plot()  #  plot the map
+            robot.plot_xy(color="b")  # plot the true vehicle path
+
+        **Simultaneous localization and mapping (SLAM)**
+
+        The state :math:`\vec{x} = (x, y, \theta, x_0, y_0, \dots, x_{N-1},
+        y_{N-1})` is the estimated vehicle configuration followed by the
+        estimated landmark positions where :math:`N` is the number of landmarks.
+        The state vector is initially of length 3, and is extended by 2 elements
+        every time a new landmark is observed.
+
+        Create a vehicle with odometry covariance ``V``, add a driver to it,
+        create a map with 20 point landmarks, create a sensor that uses the map
+        and vehicle state to estimate landmark range and bearing with covariance
+        ``W``, the Kalman filter with estimated covariances ``V`` and ``W`` and
+        initial state covariance ``P0``, then run the filter to estimate the
+        vehicle state at each time step and the map::
+
+            V = np.diag([0.02, np.radians(0.5)]) ** 2;
+            robot = Bicycle(covar=V)
+            robot.control = RandomPath(workspace=10)
+
+            map = LandmarkMap(nlandmarks=20, workspace=10)
+
+            W = np.diag([0.1, np.radians(1)]) ** 2
+            sensor = RangeBearingSensor(robot=robot, map=map, covar=W, angle=[-np.pi/2, np.pi/2], range=4, animate=True)
+
+            ekf = EKF(robot=(robot, V), P0=P0, sensor=(sensor, W))
+
+            ekf.run(T=20)  # run the simulation for 20 seconds
+
+            map.plot(); # plot true map
+            ekf.plot_map(); # plot estimated landmark position
+
+            robot.plot_xy(); # plot true path
+            ekf.plot_xy(); # plot estimated robot path
+            ekf.plot_ellipse(); # plot estimated covariance
+
+            # plot the covariance against time
+            t = ekf.get_t();
+            pn = ekf.get_Pnorm()
+            plt.plot(t, pn);
+
+        :seealso: :meth:`run`
+        """
+
+        if robot is not None:
+            if (
+                not isinstance(robot, tuple)
+                or len(robot) != 2
+                or not isinstance(robot[0], VehicleBase)
+            ):
+                raise TypeError("robot must be tuple (vehicle, V_est)")
+            self._robot = robot[0]  # reference to the robot vehicle
+            self._V_est = robot[1]  # estimate of vehicle state covariance V
+
+        if sensor is not None:
+            if (
+                not isinstance(sensor, tuple)
+                or len(sensor) != 2
+                or not isinstance(sensor[0], SensorBase)
+            ):
+                raise TypeError("sensor must be tuple (sensor, W_est)")
+            self._sensor = sensor[0]  # reference to the sensor
+            self._W_est = sensor[1]  # estimate of sensor covariance W
+        else:
+            self._sensor = None
+            self._W_est = None
+
+        if map is not None and not isinstance(map, LandmarkMap):
+            raise TypeError("map must be LandmarkMap instance")
+        self._ekf_map = map  # prior map for localization
+
+        if animate:
+            if map is not None:
+                self._workspace = map.workspace
+                self._robot._workspace = map.workspace
+            elif sensor is not None:
+                self._workspace = sensor[0].map.workspace
+                self._robot._workspace = sensor[0].map.workspace
+            elif self.robot.workspace is None:
+                raise ValueError("for animation robot must have a defined workspace")
+        self.animate = animate
+
+        self._P0 = P0  #  initial system covariance
+        self._x0 = x0  # initial vehicle state
+
+        self._x_est = x_est  #  estimated state
+        self._landmarks = None  #  ekf_map state
+
+        self._est_vehicle = False
+        self._est_ekf_map = False
+        if self._V_est is not None:
+            # estimating vehicle pose by:
+            #  - DR if sensor is None
+            #  - localization if sensor is not None and map is not None
+            self._est_vehicle = True
+
+        # perfect vehicle case
+        if map is None and sensor is not None:
+            # estimating ekf_map
+            self._est_ekf_map = True
+        self._joseph = joseph  #  flag: use Joseph form to compute p
+
+        self._verbose = verbose
+
+        self._keep_history = history  #  keep history
+        self._htuple = namedtuple("EKFlog", "t xest odo P innov S K lm z")
+
+        if workspace is not None:
+            self._dim = base.expand_dims(dim)
+        elif self.sensor is not None:
+            self._dim = self.sensor.map.workspace
+        else:
+            self._dim = self._robot.workspace
+
+        # self.robot.init()
+
+        # #  clear the history
+        # self._history = []
+
+        if self.V_est is None:
+            # perfect vehicle case
+
+            self._est_vehicle = False
+            self._x_est = None
+            self._P_est = None
+        else:
+            # noisy odometry case
+            if self.V_est.shape != (2, 2):
+                raise ValueError("vehicle state covariance V_est must be 2x2")
+            self._x_est = self.robot.x
+            self._P_est = P0
+            self._est_vehicle = True
+
+        if self.W_est is not None:
+            if self.W_est.shape != (2, 2):
+                raise ValueError("sensor covariance W_est must be 2x2")
+
+        # if np.any(self._sensor):
+        #     self._landmarks = None*np.zeros(2, self._sensor.ekf_map.nlandmarks)
+
+        # #  check types for passed objects
+        # if np.any(self._map) and not isinstance(self._map, 'LandmarkMap'):
+        #     raise ValueError('expecting LandmarkMap object')
+
+        # if np.any(sensor) and not isinstance(sensor, 'Sensor'):
+        #     raise ValueError('expecting Sensor object')
+
+        self.init()
+
+        self.xxdata = ([], [])
+
+    def __str__(self):
+        s = f"EKF object: {len(self._x_est)} states"
+
+        def indent(s, n=2):
+            spaces = " " * n
+            return s.replace("\n", "\n" + spaces)
+
+        estimating = []
+        if self._est_vehicle is not None:
+            estimating.append("vehicle pose")
+        if self._est_ekf_map is not None:
+            estimating.append("map")
+        if len(estimating) > 0:
+            s += ", estimating: " + ", ".join(estimating)
+        if self.robot is not None:
+            s += indent("\nrobot: " + str(self.robot))
+        if self.V_est is not None:
+            s += indent("\nV_est:  " + base.array2str(self.V_est))
+
+        if self.sensor is not None:
+            s += indent("\nsensor: " + str(self.sensor))
+        if self.W_est is not None:
+            s += indent("\nW_est:  " + base.array2str(self.W_est))
+
+        return s
+
+    def __repr__(self):
+        return str(self)
+
+    @property
+    def x_est(self):
+        """
+        Get EKF state
+
+        :return: state vector
+        :rtype: ndarray(n)
+
+        Returns the value of the estimated state vector at the end of
+        simulation. The dimensions depend on the problem being solved.
+        """
+        return self._x_est
+
+    @property
+    def P_est(self):
+        """
+        Get EKF covariance
+
+        :return: covariance matrix
+        :rtype: ndarray(n,n)
+
+        Returns the value of the estimated covariance matrix at the end of
+        simulation. The dimensions depend on the problem being solved.
+        """
+        return self._P_est
+
+    @property
+    def P0(self):
+        """
+        Get initial EKF covariance
+
+        :return: covariance matrix
+        :rtype: ndarray(n,n)
+
+        Returns the value of the covariance matrix passed to the constructor.
+        """
+        return self._P0
+
+    @property
+    def V_est(self):
+        """
+        Get estimated odometry covariance
+
+        :return: odometry covariance
+        :rtype: ndarray(2,2)
+
+        Returns the value of the estimated odometry covariance matrix passed to
+        the constructor
+        """
+        return self._V_est
+
+    @property
+    def W_est(self):
+        """
+        Get estimated sensor covariance
+
+        :return: sensor covariance
+        :rtype: ndarray(2,2)
+
+        Returns the value of the estimated sensor covariance matrix passed to
+        the constructor
+        """
+        return self._W_est
+
+    @property
+    def robot(self):
+        """
+        Get robot object
+
+        :return: robot used in simulation
+        :rtype: :class:`VehicleBase` subclass
+        """
+        return self._robot
+
+    @property
+    def sensor(self):
+        """
+        Get sensor object
+
+        :return: sensor used in simulation
+        :rtype: :class:`SensorBase` subclass
+        """
+        return self._sensor
+
+    @property
+    def map(self):
+        """
+        Get map object
+
+        :return: map used in simulation
+        :rtype: :class:`LandmarkMap` subclass
+        """
+        return self._map
+
+    @property
+    def verbose(self):
+        """
+        Get verbosity state
+
+        :return: verbosity
+        :rtype: bool
+        """
+        return self._verbose
+
+    @property
+    def history(self):
+        """
+        Get EKF simulation history
+
+        :return: simulation history
+        :rtype: list of namedtuples
+
+        At each simulation timestep a namedtuple of is appended to the history
+        list.  It contains, for that time step, estimated state and covariance,
+        and sensor observation.
+
+        :seealso: :meth:`get_t` :meth:`get_xyt` :meth:`get_map` :meth:`get_P`
+            :meth:`get_Pnorm`
+        """
+        return self._history
+
+    @property
+    def workspace(self):
+        """
+        Size of robot workspace
+
+        :return: workspace bounds [xmin, xmax, ymin, ymax]
+        :rtype: ndarray(4)
+
+        Returns the bounds of the workspace as specified by the constructor
+        option ``workspace``
+        """
+        return self._workspace
+
+    @property
+    def landmarks(self):
+        """
+        Get landmark information
+
+        :return: landmark information
+        :rtype: dict
+
+        The dictionary is indexed by the landmark id and gives a 3-tuple:
+
+        - order in which landmark was seen
+        - number of times seen
+
+        The order in which the landmark was first seen.  The first observed
+        landmark has order 0 and so on.
+
+        :seealso: :meth:`landmark`
+        """
+        return self._landmarks
+
+    def landmark(self, id):
+        """
+        Landmark information
+
+        :param id: landmark index
+        :type id: int
+        :return: order in which it was first seen, number of times seen
+        :rtype: int, int
+
+        The first observed landmark has order 0 and so on.
+
+        :seealso: :meth:`landmarks` :meth:`landmark_index` :meth:`landmark_mindex`
+        """
+        try:
+            l = self._landmarks[id]
+            return l[0], l[1]
+        except KeyError:
+            raise ValueError(f"unknown landmark {id}") from None
+
+    def landmark_index(self, id):
+        """
+        Landmark index in complete state vector
+
+        :param id: landmark index
+        :type id: int
+        :return: index in the state vector
+        :rtype: int
+
+        The return value ``j`` is the index of the x-coordinate of the landmark
+        in the EKF state vector, and ``j+1`` is the index of the y-coordinate.
+
+        :seealso: :meth:`landmark`
+        """
+        try:
+            jx = self._landmarks[id][0] * 2
+            if self._est_vehicle:
+                jx += 3
+            return jx
+        except KeyError:
+            raise ValueError(f"unknown landmark {id}") from None
+
+    def landmark_mindex(self, id):
+        """
+        Landmark index in map state vector
+
+        :param id: landmark index
+        :type id: int
+        :return: index in the state vector
+        :rtype: int
+
+        The return value ``j`` is the index of the x-coordinate of the landmark
+        in the map vector, and ``j+1`` is the index of the y-coordinate.
+
+        :seealso: :meth:`landmark`
+        """
+        try:
+            return self._landmarks[id][0] * 2
+        except KeyError:
+            raise ValueError(f"unknown landmark {id}") from None
+
+    def landmark_x(self, id):
+        """
+        Landmark position
+
+        :param id: landmark index
+        :type id: int
+        :return: landmark position :math:`(x,y)`
+        :rtype: ndarray(2)
+
+        Returns the landmark position from the current state vector.
+        """
+        jx = self.landmark_index(id)
+        return self._x_est[jx : jx + 2]
+
+    def init(self):
+        # EKF.init Reset the filter
+        #
+        # E.init() resets the filter state and clears landmarks and history.
+        self.robot.init()
+        if self.sensor is not None:
+            self.sensor.init()
+
+        # clear the history
+        self._history = []
+
+        if self._V_est is None:
+            # perfect vehicle case
+            self._estVehicle = False
+            self._x_est = np.empty((0,))
+            self._P_est = np.empty((0, 0))
+        else:
+            # noisy odometry case
+            self._x_est = self._x0
+            self._P_est = self._P0
+            self._estVehicle = True
+
+        if self.sensor is not None:
+            # landmark dictionary maps lm_id to list[index, nseen]
+            self._landmarks = {}
+
+            # np.full((2, len(self.sensor.map)), -1, dtype=int)
+
+    def run(self, T, animate=False):
+        """
+        Run the EKF simulation
+
+        :param T: maximum simulation time in seconds
+        :type T: float
+        :param animate: animate motion of vehicle, defaults to False
+        :type animate: bool, optional
+
+        Simulates the motion of a vehicle (under the control of a driving agent)
+        and the EKF estimator.  The steps are:
+
+        - initialize the filter, vehicle and vehicle driver agent, sensor
+        - for each time step:
+
+            - step the vehicle and its driver agent, obtain odometry
+            - take a sensor reading
+            - execute the EKF
+            - save information as a namedtuple to the history list for later display
+
+        :seealso: :meth:`history` :meth:`landmark` :meth:`landmarks`
+            :meth:`get_xyt` :meth:`get_t` :meth:`get_map` :meth:`get_P` :meth:`get_Pnorm`
+            :meth:`plot_xy` :meth:`plot_ellipse` :meth:`plot_error` :meth:`plot_map`
+            :meth:`run_animation`
+        """
+        self.init()
+        if animate:
+            if self.sensor is not None:
+                self.sensor.map.plot()
+
+            plt.xlabel("X")
+            plt.ylabel("Y")
+
+        for k in range(round(T / self.robot.dt)):
+            if animate:
+                # self.robot.plot()
+                self.robot._animation.update(self.robot.x)
+            self.step()
+
+    def run_animation(self, T=10, x0=None, control=None, format=None, file=None):
+        r"""
+        Run the EKF simulation
+
+        :param T: maximum simulation time in seconds
+        :type T: float
+        :param format: Output format
+        :type format: str, optional
+        :param file: File name
+        :type file: str, optional
+        :return: Matplotlib animation object
+        :rtype: :meth:`matplotlib.animation.FuncAnimation`
+
+        Simulates the motion of a vehicle (under the control of a driving agent)
+        and the EKF estimator for ``T`` seconds and returns an animation
+        in various formats::
+
+            ``format``    ``file``   description
+            ============  =========  ============================
+            ``"html"``    str, None  return HTML5 video
+            ``"jshtml"``  str, None  return JS+HTML video
+            ``"gif"``     str        return animated GIF
+            ``"mp4"``     str        return MP4/H264 video
+            ``None``                 return a ``FuncAnimation`` object
+
+        If ``file`` can be ``None`` then return the video as a string, otherwise it
+        must be a filename.
+
+        The simulation steps are:
+
+        - initialize the filter, vehicle and vehicle driver agent, sensor
+        - for each time step:
+
+            - step the vehicle and its driver agent, obtain odometry
+            - take a sensor reading
+            - execute the EKF
+            - save information as a namedtuple to the history list for later display
+
+        :seealso: :meth:`history` :meth:`landmark` :meth:`landmarks`
+            :meth:`get_xyt` :meth:`get_t` :meth:`get_map` :meth:`get_P` :meth:`get_Pnorm`
+            :meth:`plot_xy` :meth:`plot_ellipse` :meth:`plot_error` :meth:`plot_map`
+            :meth:`run_animation`
+        """
+
+        fig, ax = plt.subplots()
+
+        def init():
+            self.init()
+            if self.sensor is not None:
+                self.sensor.map.plot()
+            ax.set_xlabel("X")
+            ax.set_ylabel("Y")
+
+        def animate(i):
+            self.robot._animation.update(self.robot.x)
+            self.step(pause=False)
+
+        nframes = round(T / self.robot._dt)
+        anim = animation.FuncAnimation(
+            fig=fig,
+            func=animate,
+            init_func=init,
+            frames=nframes,
+            interval=self.robot.dt * 1000,
+            blit=False,
+            repeat=False,
+        )
+
+        ret = None
+        if format == "html":
+            ret = anim.to_html5_video()  # convert to embeddable HTML5 animation
+        elif format == "jshtml":
+            ret = anim.to_jshtml()  # convert to embeddable Javascript/HTML animation
+        elif format == "gif":
+            anim.save(
+                file, writer=animation.PillowWriter(fps=1 / self.robot.dt)
+            )  # convert to GIF
+            ret = None
+        elif format == "mp4":
+            anim.save(
+                file, writer=animation.FFMpegWriter(fps=1 / self.robot.dt)
+            )  # convert to mp4/H264
+            ret = None
+        elif format == None:
+            # return the anim object
+            return anim
+        else:
+            raise ValueError("unknown format")
+
+        if ret is not None and file is not None:
+            with open(file, "w") as f:
+                f.write(ret)
+            ret = None
+        plt.close(fig)
+        return ret
+
+    def step(self, pause=None):
+        """
+        Execute one timestep of the simulation
+        """
+
+        # move the robot
+        odo = self.robot.step(pause=pause)
+
+        # =================================================================
+        # P R E D I C T I O N
+        # =================================================================
+        if self._est_vehicle:
+            # split the state vector and covariance into chunks for
+            # vehicle and map
+            xv_est = self._x_est[:3]
+            xm_est = self._x_est[3:]
+            Pvv_est = self._P_est[:3, :3]
+            Pmm_est = self._P_est[3:, 3:]
+            Pvm_est = self._P_est[:3, 3:]
+        else:
+            xm_est = self._x_est
+            Pmm_est = self._P_est
+
+        if self._est_vehicle:
+            # evaluate the state update function and the Jacobians
+            # if vehicle has uncertainty, predict its covariance
+            xv_pred = self.robot.f(xv_est, odo)
+
+            Fx = self.robot.Fx(xv_est, odo)
+            Fv = self.robot.Fv(xv_est, odo)
+            Pvv_pred = Fx @ Pvv_est @ Fx.T + Fv @ self.V_est @ Fv.T
+        else:
+            # otherwise we just take the true robot state
+            xv_pred = self._robot.x
+
+        if self._est_ekf_map:
+            if self._est_vehicle:
+                # SLAM case, compute the correlations
+                Pvm_pred = Fx @ Pvm_est
+
+            Pmm_pred = Pmm_est
+            xm_pred = xm_est
+
+        # put the chunks back together again
+        if self._est_vehicle and not self._est_ekf_map:
+            # vehicle only
+            x_pred = xv_pred
+            P_pred = Pvv_pred
+        elif not self._est_vehicle and self._est_ekf_map:
+            # map only
+            x_pred = xm_pred
+            P_pred = Pmm_pred
+        elif self._est_vehicle and self._est_ekf_map:
+            # vehicle and map
+            x_pred = np.r_[xv_pred, xm_pred]
+            # fmt: off
+            P_pred = np.block([
+                [Pvv_pred,   Pvm_pred], 
+                [Pvm_pred.T, Pmm_pred]
+            ])
+            # fmt: on
+
+        # at this point we have:
+        #   xv_pred the state of the vehicle to use to
+        #           predict observations
+        #   xm_pred the state of the map
+        #   x_pred  the full predicted state vector
+        #   P_pred  the full predicted covariance matrix
+
+        # initialize the variables that might be computed during
+        # the update phase
+
+        doUpdatePhase = False
+
+        # disp('x_pred:') x_pred'
+
+        # =================================================================
+        # P R O C E S S    O B S E R V A T I O N S
+        # =================================================================
+
+        if self.sensor is not None:
+            #  read the sensor
+            z, lm_id = self.sensor.reading()
+            sensorReading = z is not None
+        else:
+            lm_id = None  # keep history saving happy
+            z = None
+            sensorReading = False
+
+        if sensorReading:
+            #  here for MBL, MM, SLAM
+
+            # compute the innovation
+            z_pred = self.sensor.h(xv_pred, lm_id)
+            innov = np.array([z[0] - z_pred[0], base.wrap_mpi_pi(z[1] - z_pred[1])])
+
+            if self._est_ekf_map:
+                # the ekf_map is estimated MM or SLAM case
+                if self._isseenbefore(lm_id):
+                    # landmark is previously seen
+
+                    # get previous estimate of its state
+                    jx = self.landmark_mindex(lm_id)
+                    xf = xm_pred[jx : jx + 2]
+
+                    # compute Jacobian for this particular landmark
+                    # xf = self.sensor.g(xv_pred, z) # HACK
+                    Hx_k = self.sensor.Hp(xv_pred, xf)
+
+                    z_pred = self.sensor.h(xv_pred, xf)
+                    innov = np.array(
+                        [z[0] - z_pred[0], base.wrap_mpi_pi(z[1] - z_pred[1])]
+                    )
+
+                    #  create the Jacobian for all landmarks
+                    Hx = np.zeros((2, len(xm_pred)))
+                    Hx[:, jx : jx + 2] = Hx_k
+
+                    Hw = self.sensor.Hw(xv_pred, xf)
+
+                    if self._est_vehicle:
+                        # concatenate Hx for for vehicle and ekf_map
+                        Hxv = self.sensor.Hx(xv_pred, xf)
+                        Hx = np.block([Hxv, Hx])
+
+                    self._landmark_increment(lm_id)  # update the count
+                    if self._verbose:
+                        print(
+                            f"landmark {lm_id} seen"
+                            f" {self._landmark_count(lm_id)} times,"
+                            f" state_idx={self.landmark_index(lm_id)}"
+                        )
+                    doUpdatePhase = True
+
+                else:
+                    # new landmark, seen for the first time
+
+                    # extend the state vector and covariance
+                    x_pred, P_pred = self._extend_map(
+                        P_pred, xv_pred, xm_pred, z, lm_id
+                    )
+                    # if lm_id == 17:
+                    #     print(P_pred)
+                    #     # print(x_pred[-2:], self._sensor._map.landmark(17), base.norm(x_pred[-2:] - self._sensor._map.landmark(17)))
+
+                    self._landmark_add(lm_id)
+                    if self._verbose:
+                        print(
+                            f"landmark {lm_id} seen for first time,"
+                            f" state_idx={self.landmark_index(lm_id)}"
+                        )
+                    doUpdatePhase = False
+
+            else:
+                # LBL
+                Hx = self.sensor.Hx(xv_pred, lm_id)
+                Hw = self.sensor.Hw(xv_pred, lm_id)
+                doUpdatePhase = True
+        else:
+            innov = None
+
+        # doUpdatePhase flag indicates whether or not to do
+        # the update phase of the filter
+        #
+        #  DR                        always false
+        #  map-based localization    if sensor reading
+        #  map creation              if sensor reading & not first
+        #                              sighting
+        #  SLAM                      if sighting of a previously
+        #                              seen landmark
+
+        if doUpdatePhase:
+            # disp('do update\n')
+            # #  we have innovation, update state and covariance
+            #  compute x_est and P_est
+
+            # compute innovation covariance
+            S = Hx @ P_pred @ Hx.T + Hw @ self._W_est @ Hw.T
+
+            # compute the Kalman gain
+            K = P_pred @ Hx.T @ np.linalg.inv(S)
+
+            # update the state vector
+            x_est = x_pred + K @ innov
+
+            if self._est_vehicle:
+                #  wrap heading state for a vehicle
+                x_est[2] = base.wrap_mpi_pi(x_est[2])
+
+            # update the covariance
+            if self._joseph:
+                #  we use the Joseph form
+                I = np.eye(P_pred.shape[0])
+                P_est = (I - K @ Hx) @ P_pred @ (I - K @ Hx).T + K @ self._W_est @ K.T
+            else:
+                P_est = P_pred - K @ S @ K.T
+                # enforce P to be symmetric
+                P_est = 0.5 * (P_est + P_est.T)
+        else:
+            # no update phase, estimate is same as prediction
+            x_est = x_pred
+            P_est = P_pred
+            S = None
+            K = None
+
+        self._x_est = x_est
+        self._P_est = P_est
+
+        if self._keep_history:
+            hist = self._htuple(
+                self.robot._t,
+                x_est.copy(),
+                odo.copy(),
+                P_est.copy(),
+                innov.copy() if innov is not None else None,
+                S.copy() if S is not None else None,
+                K.copy() if K is not None else None,
+                lm_id if lm_id is not None else -1,
+                z.copy() if z is not None else None,
+            )
+            self._history.append(hist)
+
+    ## landmark management
+
+    def _isseenbefore(self, lm_id):
+
+        # _landmarks[0, id] is the order in which seen
+        # _landmarks[1, id] is the occurence count
+
+        return lm_id in self._landmarks
+
+    def _landmark_increment(self, lm_id):
+        self._landmarks[lm_id][1] += 1  # update the count
+
+    def _landmark_count(self, lm_id):
+        return self._landmarks[lm_id][1]
+
+    def _landmark_add(self, lm_id):
+        self._landmarks[lm_id] = [len(self._landmarks), 1]
+
+    def _extend_map(self, P, xv, xm, z, lm_id):
+        # this is a new landmark, we haven't seen it before
+        # estimate position of landmark in the world based on
+        # noisy sensor reading and current vehicle pose
+
+        # M = None
+
+        # estimate its position based on observation and vehicle state
+        xf = self.sensor.g(xv, z)
+
+        # append this estimate to the state vector
+        if self._est_vehicle:
+            x_ext = np.r_[xv, xm, xf]
+        else:
+            x_ext = np.r_[xm, xf]
+
+        # get the Jacobian for the new landmark
+        Gz = self.sensor.Gz(xv, z)
+
+        # extend the covariance matrix
+        n = len(self._x_est)
+        if self._est_vehicle:
+            # estimating vehicle state
+            Gx = self.sensor.Gx(xv, z)
+            # fmt: off
+            Yz = np.block([
+                [np.eye(n), np.zeros((n, 2))    ],
+                [Gx,        np.zeros((2, n-3)), Gz]
+            ])
+            # fmt: on
+        else:
+            # estimating landmarks only
+            # P_ext = block_diag(P, Gz @ self._W_est @ Gz.T)
+            # fmt: off
+            Yz = np.block([
+                [np.eye(n),        np.zeros((n, 2))    ],
+                [np.zeros((2, n)), Gz]
+            ])
+            # fmt: on
+        P_ext = Yz @ block_diag(P, self._W_est) @ Yz.T
+
+        return x_ext, P_ext
+
+    def get_t(self):
+        """
+        Get time from simulation
+
+        :return: simulation time vector
+        :rtype: ndarray(n)
+
+        Return simulation time vector, starts at zero.  The timestep is an
+        attribute of the ``robot`` object.
+
+        :seealso: :meth:`run` :meth:`history`
+        """
+        return np.array([h.t for h in self._history])
+
+    def get_xyt(self):
+        r"""
+        Get estimated vehicle trajectory
+
+        :return: vehicle trajectory where each row is configuration :math:`(x, y, \theta)`
+        :rtype: ndarray(n,3)
+
+        :seealso: :meth:`plot_xy` :meth:`run` :meth:`history`
+        """
+        if self._est_vehicle:
+            xyt = np.array([h.xest[:3] for h in self._history])
+        else:
+            xyt = None
+        return xyt
+
+    def plot_xy(self, *args, block=None, **kwargs):
+        """
+        Plot estimated vehicle position
+
+        :param args: position arguments passed to :meth:`~matplotlib.axes.Axes.plot`
+        :param kwargs: keywords arguments passed to :meth:`~matplotlib.axes.Axes.plot`
+        :param block: hold plot until figure is closed, defaults to None
+        :type block: bool, optional
+
+        Plot the estimated vehicle path in the xy-plane.
+
+        :seealso: :meth:`get_xyt` :meth:`plot_error` :meth:`plot_ellipse` :meth:`plot_P`
+            :meth:`run` :meth:`history`
+        """
+        if args is None and "color" not in kwargs:
+            kwargs["color"] = "r"
+        xyt = self.get_xyt()
+        plt.plot(xyt[:, 0], xyt[:, 1], *args, **kwargs)
+        if block is not None:
+            plt.show(block=block)
+
+    def plot_ellipse(self, confidence=0.95, N=10, block=None, **kwargs):
+        """
+        Plot uncertainty ellipses
+
+        :param confidence: ellipse confidence interval, defaults to 0.95
+        :type confidence: float, optional
+        :param N: number of ellipses to plot, defaults to 10
+        :type N: int, optional
+        :param block: hold plot until figure is closed, defaults to None
+        :type block: bool, optional
+        :param kwargs: arguments passed to :meth:`spatialmath.base.graphics.plot_ellipse`
+
+        Plot ``N`` uncertainty ellipses spaced evenly along the trajectory.
+
+        :seealso: :meth:`get_P` :meth:`run` :meth:`history`
+        """
+        nhist = len(self._history)
+
+        if "label" in kwargs:
+            label = kwargs["label"]
+            del kwargs["label"]
+        else:
+            label = f"{confidence * 100:.3g}% confidence"
+
+        for k in np.linspace(0, nhist - 1, N):
+            k = round(k)
+            h = self._history[k]
+            if k == 0:
+                base.plot_ellipse(
+                    h.P[:2, :2],
+                    centre=h.xest[:2],
+                    confidence=confidence,
+                    label=label,
+                    inverted=True,
+                    **kwargs,
+                )
+            else:
+                base.plot_ellipse(
+                    h.P[:2, :2],
+                    centre=h.xest[:2],
+                    confidence=confidence,
+                    inverted=True,
+                    **kwargs,
+                )
+        if block is not None:
+            plt.show(block=block)
+
+    def plot_error(self, bgcolor="r", confidence=0.95, ax=None, block=None, **kwargs):
+        r"""
+        Plot error with uncertainty bounds
+
+        :param bgcolor: background color, defaults to 'r'
+        :type bgcolor: str, optional
+        :param confidence: confidence interval, defaults to 0.95
+        :type confidence: float, optional
+        :param block: hold plot until figure is closed, defaults to None
+        :type block: bool, optional
+
+        Plot the error between actual and estimated vehicle
+        path :math:`(x, y, \theta)`` versus time as three stacked plots.
+        Heading error is wrapped into the range :math:`[-\pi,\pi)`
+
+
+        Behind each line draw a shaded polygon ``bgcolor`` showing the specified
+        ``confidence`` bounds based on the covariance at each time step.
+        Ideally the lines should be within the shaded polygon ``confidence``
+        of the time.
+
+        .. note:: Observations will decrease the uncertainty while periods of dead-reckoning increase it.
+
+        :seealso: :meth:`get_P` :meth:`run` :meth:`history`
+        """
+        error = []
+        bounds = []
+        ppf = chi2.ppf(confidence, df=2)
+
+        x_gt = self.robot.x_hist
+        for k in range(len(self.history)):
+            hk = self.history[k]
+            # error is true - estimated
+            e = x_gt[k, :] - hk.xest
+            e[2] = base.wrap_mpi_pi(e[2])
+            error.append(e)
+
+            P = np.diag(hk.P)
+            bounds.append(np.sqrt(ppf * P[:3]))
+
+        error = np.array(error)
+        bounds = np.array(bounds)
+        t = self.get_t()
+
+        if ax is None:
+            fig, axes = plt.subplots(3)
+        else:
+            axes = ax[:3]
+        labels = ["x", "y", r"$\theta$"]
+
+        for k, ax in enumerate(axes):
+            if confidence is not None:
+                edge = np.array(
+                    [
+                        np.r_[t, t[::-1]],
+                        np.r_[bounds[:, k], -bounds[::-1, k]],
+                    ]
+                )
+                polygon = plt.Polygon(
+                    edge.T, closed=True, facecolor="r", edgecolor="none", alpha=0.3
+                )
+                ax.add_patch(polygon)
+            ax.plot(error[:, k], **kwargs)
+            ax.grid(True)
+            ax.set_ylabel(labels[k] + " error")
+            ax.set_xlim(0, t[-1])
+
+        if block is not None:
+            plt.show(block=block)
+
+        # subplot(opt.nplots*100+12)
+        # if opt.confidence
+        #     edge = [pxy(:,2); -pxy(end:-1:1,2)];
+        #     h = patch(t, edge, opt.color);
+        #     set(h, 'EdgeColor', 'none', 'FaceAlpha', 0.3);
+        # end
+        # hold on
+        # plot(err(:,2), args{:});
+        # hold off
+        # grid
+        # ylabel('y error')
+
+        # subplot(opt.nplots*100+13)
+        # if opt.confidence
+        #     edge = [pxy(:,3); -pxy(end:-1:1,3)];
+        #     h = patch(t, edge, opt.color);
+        #     set(h, 'EdgeColor', 'none', 'FaceAlpha', 0.3);
+        # end
+        # hold on
+        # plot(err(:,3), args{:});
+        # hold off
+        # grid
+        # xlabel('Time step')
+        # ylabel('\theta error')
+
+    def get_map(self):
+        """
+        Get estimated map
+
+        :return: landmark coordinates :math:`(x, y)`
+        :rtype: ndarray(n,2)
+
+        Landmarks are returned in the order they were first observed.
+
+        :seealso: :meth:`landmarks`  :meth:`run` :meth:`history`
+
+        """
+        xy = []
+        for lm_id, (jx, n) in self._landmarks.items():
+            #  jx is an index into the *landmark* part of the state
+            #  vector, we need to offset it to account for the vehicle
+            #  state if we are estimating vehicle as well
+            if self._est_vehicle:
+                jx += 3
+            xf = self._x_est[jx : jx + 2]
+            xy.append(xf)
+        return np.array(xy)
+
+    def plot_map(self, marker=None, ellipse=None, confidence=0.95, block=None):
+        """
+        Plot estimated landmarks
+
+        :param marker: plot marker for landmark, arguments passed to :meth:`~matplotlib.axes.Axes.plot`, defaults to "r+"
+        :type marker: dict, optional
+        :param ellipse: arguments passed to :meth:`~spatialmath.base.graphics.plot_ellipse`, defaults to None
+        :type ellipse: dict, optional
+        :param confidence: ellipse confidence interval, defaults to 0.95
+        :type confidence: float, optional
+        :param block: hold plot until figure is closed, defaults to None
+        :type block: bool, optional
+
+        Plot a marker  and covariance ellipses for each estimated landmark.
+
+        :seealso: :meth:`get_map` :meth:`run` :meth:`history`
+        """
+        if marker is None:
+            marker = {
+                "marker": "+",
+                "markersize": 10,
+                "markerfacecolor": "red",
+                "linewidth": 0,
+            }
+
+        xm = self._x_est
+        P = self._P_est
+        if self._est_vehicle:
+            xm = xm[3:]
+            P = P[3:, 3:]
+
+        # mark the estimate as a point
+        xm = xm.reshape((-1, 2))  # arrange as Nx2
+        plt.plot(xm[:, 0], xm[:, 1], label="estimated landmark", **marker)
+
+        # add an ellipse
+        if ellipse is not None:
+            for i in range(xm.shape[0]):
+                Pi = self.P_est[i : i + 2, i : i + 2]
+                # put ellipse in the legend only once
+                if i == 0:
+                    base.plot_ellipse(
+                        Pi,
+                        centre=xm[i, :],
+                        confidence=confidence,
+                        inverted=True,
+                        label=f"{confidence * 100:.3g}% confidence",
+                        **ellipse,
+                    )
+                else:
+                    base.plot_ellipse(
+                        Pi,
+                        centre=xm[i, :],
+                        confidence=confidence,
+                        inverted=True,
+                        **ellipse,
+                    )
+        # plot_ellipse( P * chi2inv_rtb(opt.confidence, 2), xf, args{:});
+        if block is not None:
+            plt.show(block=block)
+
+    def get_P(self, k=None):
+        """
+        Get covariance matrices from simulation
+
+        :param k: timestep, defaults to None
+        :type k: int, optional
+        :return: covariance matrix
+        :rtype: ndarray(n,n) or list of ndarray(n,n)
+
+        If ``k`` is given return covariance from simulation timestep ``k``, else
+        return a list of all covariance matrices.
+
+        :seealso: :meth:`get_Pnorm` :meth:`run` :meth:`history`
+        """
+        if k is not None:
+            return self._history[k].P
+        else:
+            return [h.P for h in self._history]
+
+    def get_Pnorm(self, k=None):
+        """
+        Get covariance norm from simulation
+
+        :param k: timestep, defaults to None
+        :type k: int, optional
+        :return: covariance matrix norm
+        :rtype: float or ndarray(n)
+
+        If ``k`` is given return covariance norm from simulation timestep ``k``, else
+        return all covariance norms as a 1D NumPy array.
+
+        :seealso: :meth:`get_P` :meth:`run` :meth:`history`
+        """
+        if k is not None:
+            return np.sqrt(np.linalg.det(self._history[k].P))
+        else:
+            p = [np.sqrt(np.linalg.det(h.P)) for h in self._history]
+            return np.array(p)
+
+    def disp_P(self, P, colorbar=False):
+        """
+        Display covariance matrix
+
+        :param P: covariance matrix
+        :type P: ndarray(n,n)
+        :param colorbar: add a colorbar
+        :type: bool or dict
+
+        Plot the elements of the covariance matrix as an image. If ``colorbar``
+        is True add a color bar, if `colorbar` is a dict add a color bar with
+        these options passed to colorbar.
+
+        .. note:: A log scale is used.
+
+        :seealso: :meth:`~matplotlib.axes.Axes.imshow` :func:`matplotlib.pyplot.colorbar`
+        """
+
+        z = np.log10(abs(P))
+        mn = min(z[~np.isinf(z)])
+        z[np.isinf(z)] = mn
+        plt.xlabel("State")
+        plt.ylabel("State")
+
+        plt.imshow(z, cmap="Reds")
+        if colorbar is True:
+            plt.colorbar(label="log covariance")
+        elif isinstance(colorbar, dict):
+            plt.colorbar(**colorbar)
+
+    def get_transform(self, map):
+        """
+        Transformation from estimated map to true map frame
+
+        :param map: known landmark positions
+        :type map: :class:`LandmarkMap`
+        :return: transform from ``map`` to estimated map frame
+        :rtype: SE2 instance
+
+        Uses a least squares technique to find the transform between the
+        landmark is world frame and the estimated landmarks in the SLAM
+        reference frame.
+
+        :seealso: :func:`~spatialmath.base.transforms2d.points2tr2`
+        """
+        p = []
+        q = []
+
+        for lm_id in self._landmarks.keys():
+            p.append(map[lm_id])
+            q.append(self.landmark_x(lm_id))
+
+        p = np.array(p).T
+        q = np.array(q).T
+
+        T = base.points2tr2(p, q)
+        return SE2(T)
+
+
+if __name__ == "__main__":
+    from roboticstoolbox import *
+
+    V = np.diag([0.02, np.deg2rad(0.5)]) ** 2
+    robot = Bicycle(covar=V, animation="car")
+    robot.control = RandomPath(workspace=10)
+    P0 = np.diag([1, 1, 1])
+    V = np.diag([1, 1])
+    ekf = EKF(robot=(robot, V), P0=P0, animate=False)
+    print(ekf)
+    ekf.run_animation(T=20, format="mp4", file="ekf.mp4")
+
+    # from roboticstoolbox import Bicycle
+
+    # ### RVC2: Chapter 6
+
+    # ##  6.1 Dead reckoning
+
+    # ## 6.1.1 Modeling the vehicle
+    # V = np.diag(np.r_[0.02, 0.5*pi/180] ** 2);
+
+    # veh = Bicycle(covar=V)
+
+    # odo = veh.step(1, 0.3)
+
+    # print(veh.x)
+
+    # veh.f([0, 0, 0], odo)
+
+    # # veh.add_driver( RandomPath(10) )
+
+    # # veh.run()
+
+    # ###  6.1.2  Estimating pose
+    # # veh.Fx( [0,0,0], [0.5, 0.1] )
+
+    # P0 = np.diag(np.r_[0.005, 0.005, 0.001]**2);
+
+    # ekf = EKF(veh, V, P0);
+
+    # ekf.run(1000);
+
+    # veh.plot_xy()
+
+    # ekf.plot_xy('r')
+
+    # P700 = ekf.history(700).P
+
+    # sqrt(P700(1,1))
+
+    # ekf.plot_ellipse('g')
+
+    # #  6.2 Map-based localization
+    # # randinit
+    # # map = LandmarkMap(20, 10)
+
+    # # map.plot()
+
+    # # W = diag([0.1, 1*pi/180].^2);
+
+    # # sensor = RangeBearingSensor(veh, map, 'covar', W)
+
+    # # [z,i] = sensor.reading()
+
+    # # map.landmark(17)
+
+    # # randinit
+    # # map = LandmarkMap(20);
+    # # veh = Bicycle('covar', V);
+    # # veh.add_driver( RandomPath(map.dim) );
+    # # sensor = RangeBearingSensor(veh, map, 'covar', W, 'angle', ...
+    # # [-pi/2 pi/2], 'range', 4, 'animate');
+    # # ekf = EKF(veh, V, P0, sensor, W, map);
+
+    # # ekf.run(1000);
+    # # map.plot()
+    # # veh.plot_xy();
+    # # ekf.plot_xy('r');
+    # # ekf.plot_ellipse('k')
+
+    # #  6.3  Creating a map
+    # # randinit
+    # # map = LandmarkMap(20);
+    # # veh = Bicycle(); error free vehicle
+    # # veh.add_driver( RandomPath(map.dim) );
+    # # W = diag([0.1, 1*pi/180].^2);
+    # # sensor = RangeBearingSensor(veh, map, 'covar', W);
+    # # ekf = EKF(veh, [], [], sensor, W, []);
+
+    # # ekf.run(1000);
+
+    # # map.plot();
+    # # ekf.plot_map('g');
+    # # veh.plot_xy('b');
+
+    # # ekf.landmarks(:,6)
+
+    # # ekf.x_est(19:20)'
+
+    # # ekf.P_est(19:20,19:20)
+
+    # #  6.4  EKF SLAM
+    # # randinit
+    # # P0 = diag([.01, .01, 0.005].^2);
+    # # map = LandmarkMap(20);
+    # # veh = Bicycle('covar', V);
+    # # veh.add_driver( RandomPath(map.dim) );
+    # # sensor = RangeBearingSensor(veh, map, 'covar', W);
+    # # ekf = EKF(veh, V, P0, sensor, W, []);
+
+    # # ekf.run(1000);
+
+    # # map.plot();
+    # # ekf.plot_map('g');
+    # # ekf.plot_xy('r');
+    # # veh.plot_xy('b');
+
+    # #  6.6 Pose-graph SLAM
+    # # syms x_i y_i theta_i x_j y_j theta_j x_m y_m theta_m assume real
+    # # xi_e = inv( SE2(x_m, y_m, theta_m) ) * inv( SE2(x_i, y_i, theta_i) ) * SE2(x_j, y_j, theta_j);
+    # # fk = simplify(xi_e.xyt);
+
+    # # jacobian ( fk, [x_i y_i theta_i] );
+    # # Ai = simplify (ans)
+
+    # # pg = PoseGraph('pg1.g2o')
+
+    # # clf
+    # # pg.plot()
+
+    # # pg.optimize('animate')
+
+    # # pg = PoseGraph('killian-small.toro');
+
+    # # pg.plot()
+
+    # # pg.optimize()
+
+    # # 6.7  Particle filter
+    # # randinit
+    # # map = LandmarkMap(20);
+    # # W = diag([0.1, 1*pi/180].^2);
+    # # veh = Bicycle('covar', V);
+    # # veh.add_driver( RandomPath(10) );
+
+    # # V = diag([0.005, 0.5*pi/180].^2);
+    # # sensor = RangeBearingSensor(veh, map, 'covar', W);
+
+    # # Q = diag([0.1, 0.1, 1*pi/180]).^2;
+
+    # # L = diag([0.1 0.1]);
+
+    # # pf = ParticleFilter(veh, sensor, Q, L, 1000);
+
+    # # pf.run(1000);
+
+    # # map.plot();
+    # # veh.plot_xy('b');
+
+    # # clf
+    # # pf.plot_xy('r');
+
+    # # clf
+    # # plot(pf.std(1:100,:))
+
+    # # clf
+    # # pf.plot_pdf()
+
+    # # 6.8  Application: Scanning laser rangefinder
+
+    # # Laser odometry
+    # # pg = PoseGraph('killian.g2o', 'laser');
+
+    # # [r, theta] = pg.scan(2580);
+    # # about r theta
+
+    # # clf
+    # # polar(theta, r)
+
+    # # [x,y] = pol2cart (theta, r);
+    # # plot (x, y, '.')
+
+    # # p2580 = pg.scanxy(2580);
+    # # p2581 = pg.scanxy(2581);
+    # # about p2580
+
+    # # T = icp( p2581, p2580, 'verbose' , 'T0', transl2(0.5, 0), 'distthresh', 3)
+
+    # # pg.time(2581)-pg.time(2580)
+
+    # # Laser-based map building
+    # # map = pg.scanmap();
+    # # pg.plot_occgrid(map)