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9529764549
* complie boardd without python * not good, but don't want to lose the file, because it works * clean a bit * update dbc * should build on CI * not good, but don't want to lose the file, because it works * clean a bit * should build on CI * remove unneeded path * reorder paths * reduce diff * and now it works?! * ... should work in CI * add kj, 30% chance to fix macos * pydebug * new way to find path * fix :) * tested * sanity check * repl. MacOS flags * hope it works * need more logs * need more logs2 * test if it works * should work on CI * correct python file * should not work * cleanup * real cleanup * more removals * 50% of file * transformations * fixed a hardcoded variable * more logs * simpl. * kalman * all donw if it passes tests * cleanup * reduce code by 20 lines if this works * fix bugs * cleanup * SharedLibrary * cleanup * ... * remove unused * CI fix maybe? * add more valid path * more logs * ...: * fix webcam CI * remove WError flag * deprecated is not an error * more Wno things * reduce diff, add Wno to env * don't import nonexistent stuff * SharedLibrary v2 * less custom env * renaming, remove SharedLibs * pack libs in envCython * experiment * better docker caching * whitespace * more docker caching * improvement * improvements Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
38 lines
978 B
Cython
38 lines
978 B
Cython
# distutils: language = c++
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# cython: language_level=3
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cdef class KF1D:
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def __init__(self, x0, A, C, K):
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self.x0_0 = x0[0][0]
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self.x1_0 = x0[1][0]
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self.A0_0 = A[0][0]
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self.A0_1 = A[0][1]
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self.A1_0 = A[1][0]
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self.A1_1 = A[1][1]
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self.C0_0 = C[0]
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self.C0_1 = C[1]
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self.K0_0 = K[0][0]
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self.K1_0 = K[1][0]
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self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
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self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
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self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
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self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
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def update(self, meas):
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cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
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cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
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self.x0_0 = x0_0
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self.x1_0 = x1_0
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return [self.x0_0, self.x1_0]
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@property
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def x(self):
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return [[self.x0_0], [self.x1_0]]
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@x.setter
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def x(self, x):
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self.x0_0 = x[0][0]
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self.x1_0 = x[1][0]
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