fix github rlabbe#325

fix github rlabbe#325

fix github rlabbe#325

fix github rlabbe#325

Author: rlabbe

12-Particle-Filters.ipynb

@@ -547,9 +547,9 @@
     "\n",
     "In most applications you will want to know the estimated state after each update, but the filter consists of nothing but a collection of particles. Assuming that we are tracking one object (i.e. it is unimodal) we can compute the mean of the estimate as the sum of the weighted values of the particles. \n",
     "\n",
-    "$$ \\mu = \\frac{1}{N}\\sum\\limits_{i=1}^N w^ix^i$$\n",
+    "$$\\displaystyle \\mu = \\frac{1}{N}\\sum_{i=1}^N w^ix^i$$\n",
     "\n",
-    "Here I adopt the notation $x^i$ to indicate the i$^{th}$ particle. A superscript is used because we often need to use subscripts to denote time steps the k$^{th}$ or k+1$^{th}$ particle, yielding the unwieldy $x^i_{k+1}$. \n",
+    "Here I adopt the notation $x^i$ to indicate the $\\mathtt{i}^{th}$ particle. A superscript is used because we often need to use subscripts to denote time steps the $\\mathtt{k}^{th}$ or $\\mathtt{k+1}^{th}$ particle, yielding the unwieldy $x^i_{k+1}$. \n",
     "\n",
     "This function computes both the mean and variance of the particles:"
    ]