Chapter 2/6, Motion Model Equation

[nicolasrosa]

Hello @gaoxiang12,

In the equations 2.1, you used the following expression for the Motion Model:

I believe it should be:

Am I right? I saw this formulation on the Coursera Course "State Estimation for Self-Driving Cars" by the University of Toronto.

This affects the surrounding variables indexes of the equations 2.1, 2.3, 2.5, and 6.1.