Module Expr Str ImportFrom alias alias alias alias Import alias identifier ImportFrom alias ImportFrom alias alias alias alias ImportFrom alias alias alias ClassDef bases NameLoad body FunctionDef arguments args NameParam NameParam NameParam NameParam defaults Num body Expr Str Assert CompareGt NameLoad Num Assert CompareGt NameLoad Num Assert CompareGtE NameLoad Num Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call NameLoad TupleLoad NameLoad Num Assign AttributeStore NameLoad attr Call NameLoad NameLoad Assign AttributeStore NameLoad attr Call NameLoad NameLoad Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr Call NameLoad NameLoad Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr Call NameLoad TupleLoad NameLoad Num Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad body Expr Str If CompareIs NameLoad NameLoad body Return If CompareIs NameLoad NameLoad body Assign NameStore AttributeLoad NameLoad attr orelse If Call AttributeLoad NameLoad attr NameLoad body Assign NameStore BinOpMult Call NameLoad AttributeLoad NameLoad attr NameLoad Assign NameStore AttributeLoad NameLoad attr Assign NameStore AttributeLoad NameLoad attr Assign NameStore AttributeLoad NameLoad attr Assign NameStore AttributeLoad NameLoad attr If AttributeLoad NameLoad attr body Assign AttributeStore NameLoad attr BinOpAdd Call NameLoad NameLoad NameLoad Call NameLoad NameLoad NameLoad NameLoad Assign AttributeStore NameLoad attr BinOpAdd NameLoad Call NameLoad NameLoad NameLoad NameLoad orelse Assign AttributeStore NameLoad attr BinOpSub NameLoad Call NameLoad NameLoad NameLoad Assign AttributeStore NameLoad attr BinOpAdd NameLoad Call AttributeLoad Call NameLoad NameLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call NameLoad Call NameLoad AttributeLoad NameLoad attr NameLoad NameLoad Assign AttributeStore NameLoad attr BinOpAdd NameLoad Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr BinOpAdd NameLoad Call NameLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults Num body Expr Str Assign NameStore Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr TryExcept body Assign NameStore Call NameLoad NameLoad Assign NameStore NameLoad If AttributeLoad NameLoad attr body TryExcept body Assign AttributeStore NameLoad attr Call NameLoad Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad 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NameLoad attr Call NameLoad NameLoad Call NameLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults NameLoad NameLoad body Expr Str Raise Str Expr Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Num If CompareIs NameLoad NameLoad body Assign NameStore BinOpMult ListLoad NameLoad NameLoad Assign NameStore Call NameLoad TupleLoad NameLoad AttributeLoad NameLoad attr Num Assign NameStore Call NameLoad TupleLoad NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr If NameLoad body For TupleStore NameStore TupleStore NameStore NameStore Call NameLoad Call NameLoad NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign SubscriptStore NameLoad ExtSlice Index NameLoad Slice AttributeLoad NameLoad attr Assign SubscriptStore NameLoad ExtSlice Index NameLoad Slice Slice AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr orelse For TupleStore NameStore TupleStore NameStore NameStore Call NameLoad Call NameLoad NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Assign SubscriptStore NameLoad ExtSlice Index NameLoad Slice AttributeLoad NameLoad attr Assign SubscriptStore NameLoad ExtSlice Index NameLoad Slice Slice AttributeLoad NameLoad attr Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults Num body Expr Str Raise Str Assign NameStore BinOpAdd Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr Call NameLoad AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Raise Str Return BinOpSub NameLoad Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Raise Str Return Call NameLoad AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr Call NameLoad NameLoad AttributeLoad NameLoad attr decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr Call NameLoad NameLoad AttributeLoad NameLoad attr decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr Call NameLoad NameLoad AttributeLoad NameLoad attr decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr Call NameLoad NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr Call NameLoad NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr Call NameLoad AttributeLoad NameLoad attr decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign AttributeStore NameLoad attr Call NameLoad NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr Call NameLoad NameLoad AttributeLoad NameLoad attr Num decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad decorator_list
N/A N/A Copyright 2015 Roger R Labbe Jr.

FilterPy library.
http://github.com/rlabbe/filterpy

Documentation at:
https://filterpy.readthedocs.org

Supporting book at:
https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python

This is licensed under an MIT license. See the readme.MD file
for more information.
 __future__ absolute_import division print_function unicode_literals N/A numpy np scipy.linalg inv numpy dot zeros eye asarray filterpy.common setter setter_scalar dot3 InformationFilter N/A object N/A __init__ N/A N/A self dim_x dim_z dim_u N/A 0 N/A N/A  Create a Information filter. You are responsible for setting the
        various state variables to reasonable values; the defaults below will
        not give you a functional filter.

        Parameters
        ----------

        dim_x : int
            Number of state variables for the  filter. For example, if you
            are tracking the position and velocity of an object in two
            dimensions, dim_x would be 4.

            This is used to set the default size of P, Q, and u

        dim_z : int
            Number of of measurement inputs. For example, if the sensor
            provides you with position in (x,y), dim_z would be 2.

        dim_u : int (optional)
            size of the control input, if it is being used.
            Default value of 0 indicates it is not used.
         N/A N/A dim_x 0 N/A N/A dim_z 0 N/A N/A dim_u 0 N/A N/A self dim_x dim_x N/A N/A self dim_z dim_z N/A N/A self dim_u dim_u N/A N/A self _x N/A zeros N/A dim_x 1 N/A N/A self _P_inv N/A eye dim_x N/A N/A self _Q N/A eye dim_x N/A N/A self _B 0 N/A N/A self _F 0 N/A N/A self _F_inv 0 N/A N/A self _H 0 N/A N/A self _R_inv N/A eye dim_z N/A N/A self _K 0 N/A N/A self _y N/A zeros N/A dim_z 1 N/A N/A self _S 0 N/A N/A self _I N/A N/A np eye dim_x N/A N/A self _no_information False N/A update N/A N/A self z R_inv N/A None N/A N/A 
        Add a new measurement (z) to the kalman filter. If z is None, nothing
        is changed.

        Parameters
        ----------

        z : np.array
            measurement for this update.

        R : np.array, scalar, or None
            Optionally provide R to override the measurement noise for this
            one call, otherwise  self.R will be used.
         N/A N/A z None N/A N/A N/A N/A R_inv None N/A N/A R_inv N/A self _R_inv N/A N/A N/A N/A np isscalar R_inv N/A N/A R_inv N/A N/A eye N/A self dim_z R_inv N/A H N/A self _H N/A H_T N/A H T N/A P_inv N/A self _P_inv N/A x N/A self _x N/A N/A self _no_information N/A N/A N/A self _x N/A N/A dot P_inv x N/A dot3 H_T R_inv z N/A N/A self _P_inv N/A P_inv N/A dot3 H_T R_inv H N/A N/A N/A self _y N/A z N/A dot H x N/A N/A self _S N/A P_inv N/A N/A N/A dot H_T R_inv dot H N/A N/A self _K N/A dot3 N/A inv N/A self _S H_T R_inv N/A N/A self _x N/A x N/A dot N/A self _K N/A self _y N/A N/A self _P_inv N/A P_inv N/A dot3 H_T R_inv H N/A predict N/A N/A self u N/A 0 N/A N/A  Predict next position.

        Parameters
        ----------

        u : ndarray
            Optional control vector. If non-zero, it is multiplied by B
            to create the control input into the system.
         N/A A N/A dot3 N/A N/A self _F_inv T N/A self _P_inv N/A self _F_inv N/A N/A N/A AI N/A inv A N/A invertable True N/A N/A self _no_information N/A N/A N/A N/A N/A self _x N/A dot N/A inv N/A self _P_inv N/A self _x N/A N/A N/A N/A N/A self _x N/A dot 0 N/A self _x N/A N/A self _no_information False N/A N/A N/A N/A invertable False N/A N/A self _no_information True N/A invertable N/A N/A N/A self _x N/A N/A dot N/A self _F N/A self x N/A dot N/A self _B u N/A N/A self _P_inv N/A inv N/A AI N/A self _Q N/A N/A I_PF N/A N/A self _I N/A dot N/A self _P_inv N/A self _F_inv N/A FTI N/A inv N/A N/A self _F T N/A FTIX N/A dot FTI N/A self _x N/A N/A print Q= N/A self _Q N/A N/A print A= A N/A AQI N/A inv N/A A N/A self _Q N/A N/A self _x N/A dot FTI N/A dot3 I_PF AQI FTIX N/A batch_filter N/A N/A self zs Rs update_first N/A None False N/A N/A  Batch processes a sequences of measurements.

        Parameters
        ----------

        zs : list-like
            list of measurements at each time step `self.dt` Missing
            measurements must be represented by 'None'.

        Rs : list-like, optional
            optional list of values to use for the measurement error
            covariance; a value of None in any position will cause the filter
            to use `self.R` for that time step.

        update_first : bool, optional,
            controls whether the order of operations is update followed by
            predict, or predict followed by update. Default is predict->update.

        Returns
        -------

        means: np.array((n,dim_x,1))
            array of the state for each time step. Each entry is an np.array.
            In other words `means[k,:]` is the state at step `k`.

        covariance: np.array((n,dim_x,dim_x))
            array of the covariances for each time step. In other words
            `covariance[k,:,:]` is the covariance at step `k`.
         N/A this is not implemented yet N/A  this is a copy of the code from kalman_filter, it has not been
        turned into the information filter yet. DO NOT USE. N/A n N/A N/A np size zs 0 N/A N/A Rs None N/A N/A Rs N/A N/A None n N/A means N/A zeros N/A n N/A self dim_x 1 N/A covariances N/A zeros N/A n N/A self dim_x N/A self dim_x N/A update_first N/A N/A N/A i N/A z r N/A enumerate N/A zip zs Rs N/A N/A N/A N/A self update z r N/A N/A means N/A N/A i N/A N/A self _x N/A N/A covariances N/A N/A i N/A N/A N/A self _P N/A N/A N/A self predict N/A N/A N/A i N/A z r N/A enumerate N/A zip zs Rs N/A N/A N/A N/A self predict N/A N/A N/A self update z r N/A N/A means N/A N/A i N/A N/A self _x N/A N/A covariances N/A N/A i N/A N/A N/A self _P N/A N/A means covariances N/A get_prediction N/A N/A self u N/A 0 N/A N/A  Predicts the next state of the filter and returns it. Does not
        alter the state of the filter.

        Parameters
        ----------

        u : np.array
            optional control input

        Returns
        -------

        (x, P)
            State vector and covariance array of the prediction.
         N/A Not implemented yet N/A x N/A N/A dot N/A self _F N/A self _x N/A dot N/A self _B u N/A P N/A N/A dot3 N/A self _F N/A self _P N/A N/A self _F T N/A self Q N/A N/A x P N/A residual_of N/A N/A self z N/A N/A N/A  returns the residual for the given measurement (z). Does not alter
        the state of the filter.
         N/A Not implemented yet N/A N/A z N/A dot N/A self _H N/A self _x N/A measurement_of_state N/A N/A self x N/A N/A N/A  Helper function that converts a state into a measurement.

        Parameters
        ----------

        x : np.array
            kalman state vector

        Returns
        -------

        z : np.array
            measurement corresponding to the given state
         N/A Not implemented yet N/A N/A dot N/A self _H x N/A Q N/A N/A self N/A N/A N/A  Process uncertainty N/A N/A self _Q N/A property Q N/A N/A self value N/A N/A N/A N/A self _Q N/A setter_scalar value N/A self dim_x N/A N/A Q setter P_inv N/A N/A self N/A N/A N/A  inverse covariance matrix N/A N/A self _P_inv N/A property P_inv N/A N/A self value N/A N/A N/A N/A self _P_inv N/A setter_scalar value N/A self dim_x N/A N/A P_inv setter R_inv N/A N/A self N/A N/A N/A  measurement uncertainty N/A N/A self _R_inv N/A property R_inv N/A N/A self value N/A N/A N/A N/A self _R_inv N/A setter_scalar value N/A self dim_z N/A N/A R_inv setter H N/A N/A self N/A N/A N/A N/A self _H N/A property H N/A N/A self value N/A N/A N/A N/A self _H N/A setter value N/A self dim_z N/A self dim_x N/A N/A H setter F N/A N/A self N/A N/A N/A N/A self _F N/A property F N/A N/A self value N/A N/A N/A N/A self _F N/A setter value N/A self dim_x N/A self dim_x N/A N/A self _F_inv N/A inv N/A self _F N/A N/A F setter B N/A N/A self N/A N/A N/A  control transition matrix N/A N/A self _B N/A property B N/A N/A self value N/A N/A N/A  control transition matrix N/A N/A self _B N/A setter value N/A self dim_x N/A self dim_u N/A N/A B setter x N/A N/A self N/A N/A N/A N/A self _x N/A property x N/A N/A self value N/A N/A N/A N/A self _x N/A setter value N/A self dim_x 1 N/A N/A x setter K N/A N/A self N/A N/A N/A  Kalman gain  N/A N/A self _K N/A property y N/A N/A self N/A N/A N/A  measurement residual (innovation)  N/A N/A self _y N/A property S N/A N/A self N/A N/A N/A  system uncertainy in measurement space  N/A N/A self _S N/A property N/A