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Repository: aipiano/ESEKF_IMU Branch: master Commit: 38320a8617cd Files: 11 Total size: 11.9 MB Directory structure: gitextract_w7e7o7_e/ ├── .gitignore ├── README.md ├── data/ │ ├── imu_noise.txt │ ├── imu_noise_free.txt │ ├── params.yaml │ ├── traj_esekf_out.txt │ ├── traj_gt.txt │ └── traj_gt_out.txt ├── esekf.py ├── main.py └── transformations.py ================================================ FILE CONTENTS ================================================ ================================================ FILE: .gitignore ================================================ # Byte-compiled / optimized / DLL files __pycache__/ *.py[cod] *$py.class # C extensions *.so # Distribution / packaging .Python build/ develop-eggs/ dist/ downloads/ eggs/ .eggs/ lib/ lib64/ parts/ sdist/ var/ wheels/ *.egg-info/ .installed.cfg *.egg MANIFEST # PyInstaller # Usually these files are written by a python script from a template # before PyInstaller builds the exe, so as to inject date/other infos into it. *.manifest *.spec # Installer logs pip-log.txt pip-delete-this-directory.txt # Unit test / coverage reports htmlcov/ .tox/ .coverage .coverage.* .cache nosetests.xml coverage.xml *.cover .hypothesis/ .pytest_cache/ # Translations *.mo *.pot # Django stuff: *.log local_settings.py db.sqlite3 # Flask stuff: instance/ .webassets-cache # Scrapy stuff: .scrapy # Sphinx documentation docs/_build/ # PyBuilder target/ # Jupyter Notebook .ipynb_checkpoints # pyenv .python-version # celery beat schedule file celerybeat-schedule # SageMath parsed files *.sage.py # Environments .env .venv env/ venv/ ENV/ env.bak/ venv.bak/ # Spyder project settings .spyderproject .spyproject # Rope project settings .ropeproject # mkdocs documentation /site # mypy .mypy_cache/ ================================================ FILE: README.md ================================================ # ESEKF_IMU A python implemented error-state extended Kalman Filter. Suit for learning EKF and IMU integration. Use simulated imu data (./data/imu_noise.txt) as input. Output an trajectory estimated by esekf (./data/traj_esekf_out.txt) and a ground truth trajectory (./data/traj_gt_out.txt). You can use [evo](https://github.com/MichaelGrupp/evo) to show both trajectories above. > evo_traj tum ./data/traj_esekf_out.txt --ref ./data/traj_gt_out.txt -p    # Reference 1. [Quaternion kinematics for the error-state Kalman filter](https://arxiv.org/abs/1711.02508) 2. State Estimation for Robotics. 3. 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5.595080000000000275e+00 7.630119999999999958e-02 -1.557669999999999888e-01 8.467810000000000614e-02 9.713499999999999801e+00 1.409559999999999980e-01 5.048759999999999692e+00 5.600
gitextract_w7e7o7_e/ ├── .gitignore ├── README.md ├── data/ │ ├── imu_noise.txt │ ├── imu_noise_free.txt │ ├── params.yaml │ ├── traj_esekf_out.txt │ ├── traj_gt.txt │ └── traj_gt_out.txt ├── esekf.py ├── main.py └── transformations.py
SYMBOL INDEX (68 symbols across 3 files)
FILE: esekf.py
class ImuParameters (line 7) | class ImuParameters:
method __init__ (line 8) | def __init__(self):
class ESEKF (line 16) | class ESEKF(object):
method __init__ (line 17) | def __init__(self, init_nominal_state: np.array, imu_parameters: ImuPa...
method predict (line 46) | def predict(self, imu_measurement: np.array):
method __update_legacy (line 58) | def __update_legacy(self, gt_measurement: np.array, measurement_covar:...
method update (line 126) | def update(self, gt_measurement: np.array, measurement_covar: np.array):
method __predict_nominal_state (line 193) | def __predict_nominal_state(self, imu_measurement: np.array):
method __predict_error_covar (line 255) | def __predict_error_covar(self, imu_measurement: np.array):
FILE: main.py
function load_imu_parameters (line 9) | def load_imu_parameters():
function main (line 22) | def main():
FILE: transformations.py
function identity_matrix (line 211) | def identity_matrix():
function skew_matrix (line 226) | def skew_matrix(a):
function translation_matrix (line 234) | def translation_matrix(direction):
function translation_from_matrix (line 247) | def translation_from_matrix(matrix):
function reflection_matrix (line 259) | def reflection_matrix(point, normal):
function reflection_from_matrix (line 285) | def reflection_from_matrix(matrix):
function rotation_matrix (line 314) | def rotation_matrix(angle, direction, point=None):
function rotation_from_matrix (line 358) | def rotation_from_matrix(matrix):
function scale_matrix (line 398) | def scale_matrix(factor, origin=None, direction=None):
function scale_from_matrix (line 432) | def scale_from_matrix(matrix):
function projection_matrix (line 473) | def projection_matrix(point, normal, direction=None,
function projection_from_matrix (line 535) | def projection_from_matrix(matrix, pseudo=False):
function clip_matrix (line 608) | def clip_matrix(left, right, bottom, top, near, far, perspective=False):
function shear_matrix (line 660) | def shear_matrix(angle, direction, point, normal):
function shear_from_matrix (line 691) | def shear_from_matrix(matrix):
function decompose_matrix (line 736) | def decompose_matrix(matrix):
function compose_matrix (line 821) | def compose_matrix(scale=None, shear=None, angles=None, translate=None,
function orthogonalization_matrix (line 874) | def orthogonalization_matrix(lengths, angles):
function affine_matrix_from_points (line 901) | def affine_matrix_from_points(v0, v1, shear=True, scale=True, usesvd=True):
function superimposition_matrix (line 1010) | def superimposition_matrix(v0, v1, scale=False, usesvd=True):
function euler_matrix (line 1061) | def euler_matrix(ai, aj, ak, axes='sxyz'):
function euler_from_matrix (line 1124) | def euler_from_matrix(matrix, axes='sxyz'):
function euler_from_quaternion (line 1182) | def euler_from_quaternion(quaternion, axes='sxyz'):
function quaternion_from_euler (line 1193) | def quaternion_from_euler(ai, aj, ak, axes='sxyz'):
function quaternion_about_axis (line 1250) | def quaternion_about_axis(angle, axis):
function quaternion_matrix (line 1266) | def quaternion_matrix(quaternion):
function quaternion_from_matrix (line 1293) | def quaternion_from_matrix(matrix, isprecise=False):
function quaternion_multiply (line 1374) | def quaternion_multiply(quaternion1, quaternion0):
function quaternion_conjugate (line 1390) | def quaternion_conjugate(quaternion):
function quaternion_inverse (line 1404) | def quaternion_inverse(quaternion):
function quaternion_real (line 1418) | def quaternion_real(quaternion):
function quaternion_imag (line 1428) | def quaternion_imag(quaternion):
function quaternion_slerp (line 1438) | def quaternion_slerp(quat0, quat1, fraction, spin=0, shortestpath=True):
function random_quaternion (line 1479) | def random_quaternion(rand=None):
function random_rotation_matrix (line 1507) | def random_rotation_matrix(rand=None):
class Arcball (line 1522) | class Arcball(object):
method __init__ (line 1545) | def __init__(self, initial=None):
method place (line 1570) | def place(self, center, radius):
method setaxes (line 1583) | def setaxes(self, *axes):
method constrain (line 1591) | def constrain(self):
method constrain (line 1596) | def constrain(self, value):
method down (line 1600) | def down(self, point):
method drag (line 1610) | def drag(self, point):
method next (line 1623) | def next(self, acceleration=0.0):
method matrix (line 1628) | def matrix(self):
function arcball_map_to_sphere (line 1633) | def arcball_map_to_sphere(point, center, radius):
function arcball_constrain_to_axis (line 1646) | def arcball_constrain_to_axis(point, axis):
function arcball_nearest_axis (line 1662) | def arcball_nearest_axis(point, axes):
function vector_norm (line 1695) | def vector_norm(data, axis=None, out=None):
function unit_vector (line 1734) | def unit_vector(data, axis=None, out=None):
function random_vector (line 1778) | def random_vector(size):
function vector_product (line 1793) | def vector_product(v0, v1, axis=0):
function angle_between_vectors (line 1814) | def angle_between_vectors(v0, v1, directed=True, axis=0):
function inverse_matrix (line 1845) | def inverse_matrix(matrix):
function concatenate_matrices (line 1861) | def concatenate_matrices(*matrices):
function is_same_transform (line 1877) | def is_same_transform(matrix0, matrix1):
function _import_module (line 1893) | def _import_module(name, package=None, warn=True, prefix='_py_', ignore=...
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Download .json
Condensed preview — 11 files, each showing path, character count, and a content snippet. Download the .json file for the full structured content (12,582K chars).
[
{
"path": ".gitignore",
"chars": 1203,
"preview": "# Byte-compiled / optimized / DLL files\n__pycache__/\n*.py[cod]\n*$py.class\n\n# C extensions\n*.so\n\n# Distribution / packagi"
},
{
"path": "README.md",
"chars": 885,
"preview": "# ESEKF_IMU\nA python implemented error-state extended Kalman Filter. Suit for learning EKF and IMU integration.\n\nUse sim"
},
{
"path": "data/imu_noise.txt",
"chars": 2116647,
"preview": "0.000000000000000000e+00 -1.902220000000000022e-01 4.407690000000000219e-02 -6.332680000000000253e-02 8.8493300000000001"
},
{
"path": "data/imu_noise_free.txt",
"chars": 2102072,
"preview": "0.000000000000000000e+00 2.928089999999999860e-01 0.000000000000000000e+00 1.138379999999999947e-01 8.785669999999999646"
},
{
"path": "data/params.yaml",
"chars": 349,
"preview": "IMU.frequency: 200\nIMU.start_time_s: 0\nIMU.end_time_s: 60\n\nIMU.acc_noise_sigma: 0.019 # m/sqrt(s^3) (continuous n"
},
{
"path": "data/traj_esekf_out.txt",
"chars": 2435966,
"preview": "0.000000000000000000e+00 1.000000000000000000e+01 0.000000000000000000e+00 2.000000000000000000e+01 8.253359999999999586"
},
{
"path": "data/traj_gt.txt",
"chars": 3349029,
"preview": "0.000000000000000000e+00 1.000000000000000000e+01 0.000000000000000000e+00 2.000000000000000000e+01 8.253359999999999586"
},
{
"path": "data/traj_gt_out.txt",
"chars": 2431031,
"preview": "0.000000000000000000e+00 1.000000000000000000e+01 0.000000000000000000e+00 2.000000000000000000e+01 8.253359999999999586"
},
{
"path": "esekf.py",
"chars": 11768,
"preview": "import numpy as np\nimport numpy.linalg as la\nimport transformations as tr\nimport math\n\n\nclass ImuParameters:\n def __i"
},
{
"path": "main.py",
"chars": 3248,
"preview": "import numpy as np\nimport matplotlib.pyplot as plt\nimport transformations as tr\nimport yaml\nimport math\nfrom esekf impor"
},
{
"path": "transformations.py",
"chars": 66365,
"preview": "# -*- coding: utf-8 -*-\n# transformations.py\n\n# Copyright (c) 2006-2015, Christoph Gohlke\n# Copyright (c) 2006-2015, The"
}
]
About this extraction
This page contains the full source code of the aipiano/ESEKF_IMU GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 11 files (11.9 MB), approximately 3.1M tokens, and a symbol index with 68 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.