python bindings for c++ kalman filter library (xo-kalmanfilter)

Getting Started

build + install dependencies

• github/Rconybea/xo-kalmanfilter
• github/Rconybea/xo-pyreactor

build + install

$ cd xo-pykalmanfilter
$ mkdir build
$ cd build
$ INSTALL_PREFIX=/usr/local  # or wherever you prefer, e.g. ~/local
$ cmake \
    -DCMAKE_MODULE_PATH=${INSTALL_PREFIX}/share/cmake \
    -DCMAKE_PREFIX_PATH=${INSTALL_PREFIX} \
    -DCMAKE_INSTALL_PREFIX=${INSTALL_PREFIX} ..
$ make
$ make install

(also see .github/workflows/main.yml)

Examples

Assumes xo-pykalmanfilter installed to ~/local2/lib

PYTHONPATH=~/local2/lib:$PYTHONPATH python
>>> import xo_pykalmanfilter
>>> dir(xo_pykalmanfilter)
['KalmanFilter', 'KalmanFilterInput', 'KalmanFilterInputToConsole', 'KalmanFilterObservable', 'KalmanFilterSpec', 'KalmanFilterState', 'KalmanFilterStateEventStore', 'KalmanFilterStateExt', 'KalmanFilterStateToConsole', 'KalmanFilterStep', 'KalmanFilterSvc', 'KalmanFilterTransition', '__doc__', '__file__', '__loader__', '__name__', '__package__', '__spec__', 'kf_engine_correct', 'kf_engine_correct1', 'kf_engine_extrapolate', 'kf_engine_gain', 'kf_engine_gain1', 'make_kalman_filter', 'make_kalman_filter_input', 'make_kalman_filter_input_printer', 'make_kalman_filter_state_printer', 'print_matrix', 'print_vector']
>>>

Development

build for unit test coverage

$ cd xo-pykalmanfilter
$ mkdir build-ccov
$ cd build-ccov
$ cmake \
    -DCMAKE_MODULE_PATH=${INSTALL_PREFIX}/share/cmake \
    -DCMAKE_PREFIX_PATH=${INSTALL_PREFIX} \
    -DCODE_COVERAGE=ON \
    -DCMAKE_BUILD_TYPE=Debug ..

LSP (language server) support

LSP looks for compile commands in the root of the source tree; while Cmake creates them in the root of its build directory.

$ cd xo-pykalmanfilter
$ ln -s build/compile_commands.json  # supply compile commands to LSP

display cmake variables

• -L list variables
• -A include 'advanced' variables
• -H include help text

$ cd xo-pykalmanfilter/build
$ cmake -LAH