Math & Science ⇒ Alignment for Condition inside Matrix

[ankitravankar]

Can someone please help me writing this equation? Especially the condition part with Z_{0:k}. I am not getting how to write the condition in between the lines and still keep the size of the matrix same both sides.

[Stefan Kottwitz]

Please post what you already have, of this equation. So readers would not have to type all from scratch, including what you already have and what's no problem for you.

Stefan

[ankitravankar]

This is what I've tried so far.

Code: Select all

\begin{align}
  \mathbf{P}_{k \mid k} &=
  \mathbf{\begin{bmatrix}
    \mathbf{P}_{xx} & \mathbf{P}_{xm} \\ 
    \mathbf{P}^T_{xm} & \mathbf{P}_{mm}  
  \end{bmatrix}}_{k \mid k} \\
  &= \mathbf{E}
  \begin{bmatrix}
    \begin{pmatrix}
      \mathbf{x}_k-\hat{\mathbf{x}_k} \\
      \mathbf{m}-\hat{\mathbf{m}_k} 
    \end{pmatrix}
    & \begin{pmatrix}
        \mathbf{x}_k-\hat{\mathbf{x}_k} \\
        \mathbf{m}-\hat{\mathbf{m}_k} 
      \end{pmatrix}^T
    & \mid\mathbf{Z}_{0:k}
  \end{bmatrix} \nonumber
\end{align}

[Stefan Kottwitz]

You could use \left[ and \right] instead of the outer bmatrix in the second line:

Code: Select all

\begin{align}
\mathbf{P}_{k \mid k} &= \mathbf{\begin{bmatrix}
\mathbf{P}_{xx} & \mathbf{P}_{xm} \\
\mathbf{P}^T_{xm} & \mathbf{P}_{mm}  
\end{bmatrix}}_{k \mid k} \\
                      &= \mathbf{E}\left[
\begin{pmatrix}
\mathbf{x}_k-\hat{\mathbf{x}_k} \\
\mathbf{m}-\hat{\mathbf{m}_k}
\end{pmatrix} \begin{pmatrix}
\mathbf{x}_k-\hat{\mathbf{x}_k} \\
\mathbf{m}-\hat{\mathbf{m}_k}
\end{pmatrix}^T \mid\mathbf{Z}_{0:k}
\right] \nonumber
\end{align}

And I would write the math accents differently, i.e. \hat{\mathbf{m}}_k instead of \hat{\mathbf{m}_k}, look at the position of the accent.

Stefan

[ankitravankar]

thanks stefan it was a simple mistake.. thanks for pointing it out..

cheers