70 lines
2.1 KiB
Markdown
70 lines
2.1 KiB
Markdown
# python bindings for c++ kalman filter library (xo-kalmanfilter)
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## Getting Started
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### build + install dependencies
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- [github/Rconybea/xo-kalmanfilter](https://github.com/Rconybea/xo-kalmanfilter)
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- [github/Rconybea/xo-pyreactor](https://github.com/Rconybea/xo-pyreactor)
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### build + install
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```
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$ cd xo-pykalmanfilter
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$ mkdir build
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$ cd build
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$ INSTALL_PREFIX=/usr/local # or wherever you prefer, e.g. ~/local
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$ cmake \
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-DCMAKE_MODULE_PATH=${INSTALL_PREFIX}/share/cmake \
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-DCMAKE_PREFIX_PATH=${INSTALL_PREFIX} \
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-DCMAKE_INSTALL_PREFIX=${INSTALL_PREFIX} ..
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$ make
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$ make install
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```
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(also see .github/workflows/main.yml)
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## Examples
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Assumes `xo-pykalmanfilter` installed to `~/local2/lib`
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```
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PYTHONPATH=~/local2/lib:$PYTHONPATH python
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>>> import xo_pykalmanfilter
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>>> dir(xo_pykalmanfilter)
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['KalmanFilter', 'KalmanFilterInput', 'KalmanFilterInputToConsole', 'KalmanFilterObservable', 'KalmanFilterSpec', 'KalmanFilterState', 'KalmanFilterStateEventStore', 'KalmanFilterStateExt', 'KalmanFilterStateToConsole', 'KalmanFilterStep', 'KalmanFilterSvc', 'KalmanFilterTransition', '__doc__', '__file__', '__loader__', '__name__', '__package__', '__spec__', 'kf_engine_correct', 'kf_engine_correct1', 'kf_engine_extrapolate', 'kf_engine_gain', 'kf_engine_gain1', 'make_kalman_filter', 'make_kalman_filter_input', 'make_kalman_filter_input_printer', 'make_kalman_filter_state_printer', 'print_matrix', 'print_vector']
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>>>
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```
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## Development
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### build for unit test coverage
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```
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$ cd xo-pykalmanfilter
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$ mkdir build-ccov
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$ cd build-ccov
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$ cmake \
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-DCMAKE_MODULE_PATH=${INSTALL_PREFIX}/share/cmake \
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-DCMAKE_PREFIX_PATH=${INSTALL_PREFIX} \
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-DCODE_COVERAGE=ON \
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-DCMAKE_BUILD_TYPE=Debug ..
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```
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### LSP (language server) support
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LSP looks for compile commands in the root of the source tree;
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while Cmake creates them in the root of its build directory.
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```
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$ cd xo-pykalmanfilter
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$ ln -s build/compile_commands.json # supply compile commands to LSP
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```
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### display cmake variables
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- `-L` list variables
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- `-A` include 'advanced' variables
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- `-H` include help text
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```
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$ cd xo-pykalmanfilter/build
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$ cmake -LAH
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```
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