diff --git a/.xo-pykalmanfilter/.github/workflows/main.yml b/.xo-pykalmanfilter/.github/workflows/main.yml
deleted file mode 100644
index 24a0c9c7..00000000
--- a/.xo-pykalmanfilter/.github/workflows/main.yml
+++ /dev/null
@@ -1,663 +0,0 @@
-name: build xo-optionutil + dependencies
-
-on:
-  push:
-    branches: [ "main" ]
-  pull_request:
-    branches: [ "main" ]
-
-env:
-  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
-  BUILD_TYPE: Release
-
-jobs:
-  build:
-    # The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
-    # You can convert this to a matrix build if you need cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
-    runs-on: ubuntu-latest
-
-    steps:
-    - name: checkout source
-      uses: actions/checkout@v3
-
-    - name: Install dependencies
-      run: |
-        echo "::group::install catch2"
-        # install catch2.  see
-        #   [[https://stackoverflow.com/questions/57982945/how-to-apt-get-install-in-a-github-actions-workflow]]
-        sudo apt-get install -y catch2
-        echo "::endgroup"
-
-        echo "::group::install eigen3"
-        sudo apt-get install  -y libeigen3-dev
-        echo "::endgroup"
-
-        echo "::group::install pybind11"
-        sudo apt-get install -y pybind11-dev
-        #echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-cmake
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-cmake
-        path: repo/xo-cmake
-
-    - name: build xo-cmake
-      run: |
-        XONAME=xo-cmake
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}}
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-indentlog
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/indentlog
-        path: repo/xo-indentlog
-
-    - name: build xo-indentlog
-      run: |
-        XONAME=xo-indentlog
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-refcnt
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/refcnt
-        path: repo/xo-refcnt
-
-    - name: build xo-refcnt
-      run: |
-        XONAME=xo-refcnt
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-subsys
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/subsys
-        path: repo/xo-subsys
-
-    - name: build xo-subsys
-      run: |
-        XONAME=xo-subsys
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-reflect
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/reflect
-        path: repo/xo-reflect
-
-    - name: build xo-reflect
-      run: |
-        XONAME=xo-reflect
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-pyutil
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-pyutil
-        path: repo/xo-pyutil
-
-    - name: build xo-pyutil
-      run: |
-        XONAME=xo-pyutil
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-pyreflect
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-pyreflect
-        path: repo/xo-pyreflect
-
-    - name: build xo-pyreflect
-      run: |
-        XONAME=xo-pyreflect
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-callback
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-callback
-        path: repo/xo-callback
-
-    - name: build xo-callback
-      run: |
-        XONAME=xo-callback
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-printjson
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-printjson
-        path: repo/xo-printjson
-
-    - name: build xo-printjson
-      run: |
-        XONAME=xo-printjson
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-pyprintjson
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-pyprintjson
-        path: repo/xo-pyprintjson
-
-    - name: build xo-pyprintjson
-      run: |
-        XONAME=xo-pyprintjson
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-webutil
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-webutil
-        path: repo/xo-webutil
-
-    - name: build xo-webutil
-      run: |
-        XONAME=xo-webutil
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-randomgen
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/randomgen
-        path: repo/xo-randomgen
-
-    - name: build xo-randomgen
-      run: |
-        XONAME=xo-randomgen
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-ordinaltree
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-ordinaltree
-        path: repo/xo-ordinaltree
-
-    - name: build xo-ordinaltree
-      run: |
-        XONAME=xo-ordinaltree
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-reactor
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-reactor
-        path: repo/xo-reactor
-
-    - name: build xo-reactor
-      run: |
-        XONAME=xo-reactor
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-pyreactor
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-pyreactor
-        path: repo/xo-pyreactor
-
-    - name: build xo-pyreactor
-      run: |
-        XONAME=xo-pyreactor
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-statistics
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-statistics
-        path: repo/xo-statistics
-
-    - name: build xo-statistics
-      run: |
-        XONAME=xo-statistics
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: clone xo-kalmanfilter
-      uses: actions/checkout@v3
-      with:
-        repository: Rconybea/xo-kalmanfilter
-        path: repo/xo-kalmanfilter
-
-    - name: build xo-kalmanfilter
-      run: |
-        XONAME=xo-kalmanfilter
-        XOSRC=repo/${XONAME}
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_INSTALL_PREFIX=${PREFIX} ${XOSRC}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}} -j
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-    # ----------------------------------------------------------------
-
-    - name: Configure self (pykalmanfilter)
-      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
-      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: |
-        XONAME=xo-pykalmanfilter
-        BUILDDIR=${{github.workspace}}/build_${XONAME}
-        PREFIX=${{github.workspace}}/local
-
-        echo "::group::repo dir tree"
-        tree -L 2 repo
-        echo "::endgroup"
-
-        echo "::group::configure ${XONAME}"
-        cmake -B ${BUILDDIR} -DCMAKE_MODULE_PATH=${PREFIX}/share/cmake -DCMAKE_PREFIX_PATH=${PREFIX} -DCMAKE_INSTALL_PREFIX=${PREFIX} -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
-        echo "::endgroup"
-
-        echo "::group::compile ${XONAME}"
-        cmake --build ${BUILDDIR} --config ${{env.BUILD_TYPE}}
-        echo "::endgroup"
-
-        echo "::group::local install ${XONAME}"
-        cmake --install ${BUILDDIR}
-        echo "::endgroup"
-
-        echo "::group::local dir tree"
-        tree -L 3 ${PREFIX}
-        echo "::endgroup"
-
-        # Execute tests defined by the CMake configuration.
-        # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-        (cd ${BUILDDIR} && ctest -C ${{env.BUILD_TYPE}})
diff --git a/.xo-pykalmanfilter/.gitignore b/.xo-pykalmanfilter/.gitignore
deleted file mode 100644
index 13c0afb7..00000000
--- a/.xo-pykalmanfilter/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-# clangd working space (see emacs+lsp)
-.cache
-# typical cmake build directory (source-tree-nephew)
-.build*
-# symlink to builddir/compile_commands.json;  should be set manually in dev sandbox
-compile_commands.json
diff --git a/.xo-pykalmanfilter/CMakeLists.txt b/.xo-pykalmanfilter/CMakeLists.txt
deleted file mode 100644
index 15d971db..00000000
--- a/.xo-pykalmanfilter/CMakeLists.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-# xo-pykalmanfilter/CMakeLists.txt
-
-cmake_minimum_required(VERSION 3.10)
-
-project(xo_pykalmanfilter VERSION 1.0)
-
-include(GNUInstallDirs)
-include(cmake/xo-bootstrap-macros.cmake)
-
-xo_cxx_toplevel_options3()
-
-# ----------------------------------------------------------------
-# c++ settings
-
-set(PROJECT_CXX_FLAGS "")
-#set(PROJECT_CXX_FLAGS "-fconcepts-diagnostics-depth=2")
-add_definitions(${PROJECT_CXX_FLAGS})
-
-# ----------------------------------------------------------------
-
-add_subdirectory(src/pykalmanfilter)
-
-# ----------------------------------------------------------------
-# provide find_package() support
-
-xo_export_cmake_config(${PROJECT_NAME} ${PROJECT_VERSION} ${PROJECT_NAME}Targets)
diff --git a/.xo-pykalmanfilter/README.md b/.xo-pykalmanfilter/README.md
deleted file mode 100644
index 7d7d1b11..00000000
--- a/.xo-pykalmanfilter/README.md
+++ /dev/null
@@ -1,70 +0,0 @@
-# python bindings for c++ kalman filter library (xo-kalmanfilter)
-
-## Getting Started
-
-### build + install dependencies
-
-- [github/Rconybea/xo-kalmanfilter](https://github.com/Rconybea/xo-kalmanfilter)
-- [github/Rconybea/xo-pyreactor](https://github.com/Rconybea/xo-pyreactor)
-
-### build + install
-
-```
-$ 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
-```
diff --git a/.xo-pykalmanfilter/cmake/xo-bootstrap-macros.cmake b/.xo-pykalmanfilter/cmake/xo-bootstrap-macros.cmake
deleted file mode 100644
index 592272c0..00000000
--- a/.xo-pykalmanfilter/cmake/xo-bootstrap-macros.cmake
+++ /dev/null
@@ -1,41 +0,0 @@
-# ----------------------------------------------------------------
-# for example:
-#   $ PREFIX=/usr/local   # for example
-#   $ cmake -DCMAKE_MODULE_PATH=prefix -DCMAKE_INSTALL_PREFIX=$PREFIX -B .build
-#
-# will get
-#   CMAKE_MODULE_PATH
-# from xo-cmake-config --cmake-module-path
-#
-# and expect .cmake macros in
-#   CMAKE_MODULE_PATH/xo_macros/xo_cxx.cmake
-# ----------------------------------------------------------------
-
-find_program(XO_CMAKE_CONFIG_EXECUTABLE NAMES xo-cmake-config REQUIRED)
-
-if ("${XO_CMAKE_CONFIG_EXECUTABLE}" STREQUAL "XO_CMAKE_CONFIG_EXECUTABLE-NOT_FOUND")
-    message(FATAL "could not find xo-cmake-config executable")
-endif()
-
-message(STATUS "XO_CMAKE_CONFIG_EXECUTABLE=${XO_CMAKE_CONFIG_EXECUTABLE}")
-
-if (XO_SUBMODULE_BUILD)
-    if (("${CMAKE_MODULE_PATH}" STREQUAL "") OR ("${CMAKE_MODULE_PATH}" STREQUAL prefix))
-        # local version of xo-cmake macros
-        set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/xo-cmake/cmake")
-        message(STATUS "CMAKE_MODULE_PATH=${CMAKE_MODULE_PATH}")
-    endif()
-else()
-    if (("${CMAKE_MODULE_PATH}" STREQUAL "") OR ("${CMAKE_MODULE_PATH}" STREQUAL prefix))
-        # default to typical install location for xo-project-macros
-        execute_process(COMMAND ${XO_CMAKE_CONFIG_EXECUTABLE} --cmake-module-path OUTPUT_VARIABLE CMAKE_MODULE_PATH)
-        message(STATUS "CMAKE_MODULE_PATH=${CMAKE_MODULE_PATH}")
-    endif()
-endif()
-
-# needs to have been installed somewhere on CMAKE_MODULE_PATH,
-# (e.g. from xo-cmake with the same value for CMAKE_INSTALL_PREFIX)
-#
-include(xo_macros/xo_cxx)
-
-xo_cxx_bootstrap_message()
diff --git a/.xo-pykalmanfilter/cmake/xo_pykalmanfilterConfig.cmake.in b/.xo-pykalmanfilter/cmake/xo_pykalmanfilterConfig.cmake.in
deleted file mode 100644
index eb9a3b16..00000000
--- a/.xo-pykalmanfilter/cmake/xo_pykalmanfilterConfig.cmake.in
+++ /dev/null
@@ -1,5 +0,0 @@
-@PACKAGE_INIT@
-
-include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
-include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Share.cmake")
-check_required_components("@PROJECT_NAME@")
diff --git a/.xo-pykalmanfilter/include/README.md b/.xo-pykalmanfilter/include/README.md
deleted file mode 100644
index 4454f162..00000000
--- a/.xo-pykalmanfilter/include/README.md
+++ /dev/null
@@ -1 +0,0 @@
-placeholder for future pyreflect #include files
diff --git a/.xo-pykalmanfilter/src/pykalmanfilter/CMakeLists.txt b/.xo-pykalmanfilter/src/pykalmanfilter/CMakeLists.txt
deleted file mode 100644
index af687d48..00000000
--- a/.xo-pykalmanfilter/src/pykalmanfilter/CMakeLists.txt
+++ /dev/null
@@ -1,37 +0,0 @@
-# xo_pykalmanfilter/src/pykalmanfilter/CMakeLists.txt
-
-set(SELF_LIB xo_pykalmanfilter)
-set(SELF_SRCS pykalmanfilter.cpp)
-
-xo_pybind11_library(${SELF_LIB} ${PROJECT_NAME}Targets ${SELF_SRCS})
-xo_pybind11_dependency(${SELF_LIB} xo_kalmanfilter)
-xo_pybind11_header_dependency(${SELF_LIB} xo_pyreactor)
-#xo_pybind11_dependency(${SELF_LIB} xo_pyutil)
-
-# cmake config generated by xo-kalman filter
-# (xo-kalmanfilter/cmake/xo_kalmanfilterConfig.cmake)
-# doesn't work here.
-# kalmanfilterConfig.cmake include path that would make
-#   #include <eigen3/Eigen/Dense>
-# work;  we want to be able to use
-#   #include <Eigen/Dense>
-#
-# BTW this tells us that there's some discrepancy between what
-# cmake does in response to
-#
-# (A) xo_kalmanfilterTarget.cmake:
-#     set_target_properties(xo_kalmanfilter PROPERTIES
-#       ..
-#       INTERFACE_LINK_LIBRARIES "reactor;Eigen3::Eigen")
-#
-# (B) xo_external_target_dependency
-#       (xo_kalmanfilter Eigen3 Eigen3::Eigen)
-#     below
-#
-#     reminder XO_SUBMODULE_BUILD relies on
-#              xo_external_target_dependency() calling find_package()
-#
-xo_external_target_dependency(${SELF_LIB} Eigen3 Eigen3::Eigen)
-#target_link_libraries(${SELF_LIB} PUBLIC Eigen3::Eigen)
-
-# CMakeLists.txt
diff --git a/.xo-pykalmanfilter/src/pykalmanfilter/pykalmanfilter.cpp b/.xo-pykalmanfilter/src/pykalmanfilter/pykalmanfilter.cpp
deleted file mode 100644
index 4255335b..00000000
--- a/.xo-pykalmanfilter/src/pykalmanfilter/pykalmanfilter.cpp
+++ /dev/null
@@ -1,285 +0,0 @@
-/* @file pykalmanfilter.cpp */
-
-#include "pykalmanfilter.hpp"
-#include "xo/pyreactor/pyreactor.hpp"
-#include "xo/pyutil/pyutil.hpp"
-
-#include "xo/kalmanfilter/init_filter.hpp"
-#include "xo/refcnt/Refcounted.hpp"
-#include "xo/kalmanfilter/KalmanFilterSvc.hpp"
-#include "xo/kalmanfilter/KalmanFilter.hpp"
-#include "xo/kalmanfilter/KalmanFilterEngine.hpp"
-#include "xo/kalmanfilter/KalmanFilterSpec.hpp"
-#include "xo/kalmanfilter/KalmanFilterStep.hpp"
-#include "xo/kalmanfilter/KalmanFilterStateToConsole.hpp"
-#include "xo/kalmanfilter/KalmanFilterState.hpp"
-#include "xo/kalmanfilter/KalmanFilterTransition.hpp"
-#include "xo/kalmanfilter/KalmanFilterObservable.hpp"
-#include "xo/kalmanfilter/KalmanFilterInputToConsole.hpp"
-#include "xo/kalmanfilter/KalmanFilterInput.hpp"
-#include "xo/reactor/EventStore.hpp"
-#include "xo/subsys/Subsystem.hpp"
-
-#include <pybind11/pybind11.h>
-#include <pybind11/eigen.h>
-#include <pybind11/stl.h>
-#include <pybind11/chrono.h>
-#include <pybind11/functional.h>
-//#include <pybind11/operators.h>
-
-namespace xo {
-    using xo::kalman::KalmanFilterSvc;
-    using xo::kalman::KalmanFilter;
-    using xo::kalman::KalmanFilterState;
-    using xo::kalman::KalmanFilterEngine;
-    using xo::kalman::KalmanFilterSpec;
-    using xo::kalman::KalmanFilterStepBase;
-    using xo::kalman::KalmanFilterStep;
-    using xo::kalman::KalmanFilterStateToConsole;
-    using xo::kalman::KalmanFilterState;
-    using xo::kalman::KalmanFilterStateExt;
-    using xo::kalman::KalmanFilterTransition;
-    using xo::kalman::KalmanFilterObservable;
-    using xo::kalman::KalmanFilterInputToConsole;
-    using xo::kalman::KalmanFilterInput;
-    using xo::reactor::AbstractSource;
-    using xo::reactor::AbstractSink;
-    using xo::reactor::AbstractEventStore;
-    using xo::reactor::ReactorSource;
-    using xo::reactor::PtrEventStore;
-    using xo::reflect::SelfTagging;
-    using xo::time::utc_nanos;
-    using Eigen::VectorXd;
-    using Eigen::VectorXi;
-    using Eigen::MatrixXd;
-    namespace py = pybind11;
-
-    namespace filter {
-        PYBIND11_MODULE(PYKALMANFILTER_MODULE_NAME(), m) {
-            /* ensure filter/ will be initialized */
-            InitSubsys<S_kalmanfilter_tag>::require();
-            /* ..and immediately perform init steps
-             *   (this 2nd step is sketchy -- want to pass an application context
-             *    to initialize_all())
-             */
-            Subsystem::initialize_all();
-
-            /* e.g. need python wrapper for for xo::reactor::AbstractSource
-             */
-            PYREACTOR_IMPORT_MODULE();
-
-            m.doc() = "pybind11 plugin for xo.filter";
-
-            m.def("print_matrix",
-                  [](MatrixXd const & m) {
-                      std::cout << m << std::endl;
-                  });
-
-            m.def("print_vector",
-                  [](VectorXd const & v) {
-                      std::cout << v << std::endl;
-                  });
-
-            // ----- xo::kalman::KalmanFilterState -----
-
-            py::class_<KalmanFilterState,
-                       SelfTagging,
-                       rp<KalmanFilterState>>(m, "KalmanFilterState")
-                .def_static("make",
-                            py::overload_cast<uint32_t, utc_nanos, VectorXd, MatrixXd, KalmanFilterTransition>(&KalmanFilterState::make),
-                            py::arg("k"), py::arg("tk"),
-                            py::arg("x"), py::arg("P"),
-                            py::arg("transition"))
-                .def("step_no", &KalmanFilterState::step_no)
-                .def("tm", &KalmanFilterState::tm)
-                .def("n_state", &KalmanFilterState::n_state)
-                .def("state_v", &KalmanFilterState::state_v)
-                .def("state_cov", &KalmanFilterState::state_cov)
-                .def_property_readonly("k", &KalmanFilterState::step_no)
-                .def_property_readonly("tk", &KalmanFilterState::tm)
-                .def_property_readonly("x", &KalmanFilterState::state_v)
-                .def_property_readonly("P", &KalmanFilterState::state_cov)
-                .def("__repr__", &KalmanFilterState::display_string);
-
-            // ----- xo::kalman::KalmanFilterStateExt -----
-
-            py::class_<KalmanFilterStateExt,
-                       KalmanFilterState,
-                       rp<KalmanFilterStateExt>>(m, "KalmanFilterStateExt")
-                .def_static("make",
-                            py::overload_cast<uint32_t, utc_nanos, VectorXd, MatrixXd, KalmanFilterTransition, MatrixXd, int32_t, rp<KalmanFilterInput>>(&KalmanFilterStateExt::make),
-                            py::arg("k"),
-                            py::arg("tk"),
-                            py::arg("x"),
-                            py::arg("P"),
-                            py::arg("transition"),
-                            py::arg("K"),
-                            py::arg("j"),
-                            py::arg("zk"))
-                .def_property_readonly("j", &KalmanFilterStateExt::observable)
-                .def_property_readonly("K", &KalmanFilterStateExt::gain)
-                .def_property_readonly("zk", &KalmanFilterStateExt::zk);
-
-            // ----- xo::kalman::KalmanFilterTransition -----
-
-            py::class_<KalmanFilterTransition>(m, "KalmanFilterTransition")
-                .def(py::init<MatrixXd, MatrixXd>())
-                .def("n_state", &KalmanFilterTransition::n_state)
-                .def("transition_mat", &KalmanFilterTransition::transition_mat)
-                .def("transition_cov", &KalmanFilterTransition::transition_cov)
-                .def("check_ok", &KalmanFilterTransition::check_ok)
-                .def_property_readonly("F", &KalmanFilterTransition::transition_mat)
-                .def_property_readonly("Q", &KalmanFilterTransition::transition_cov)
-                .def("__repr__", &KalmanFilterTransition::display_string);
-
-            // ----- xo::kalman::KalmanFilterObservable -----
-
-            py::class_<KalmanFilterObservable>(m, "KalmanFilterObservable")
-                .def(py::init<VectorXi, MatrixXd, MatrixXd>(),
-                     py::arg("keep"), py::arg("H"), py::arg("R"))
-                .def("n_state", &KalmanFilterObservable::n_state)
-                .def("n_observable", &KalmanFilterObservable::n_observable)
-                .def("observable_mat", &KalmanFilterObservable::observable)
-                .def("observable_cov", &KalmanFilterObservable::observable_cov)
-                .def_property_readonly("H", &KalmanFilterObservable::observable)
-                .def_property_readonly("R", &KalmanFilterObservable::observable_cov)
-                .def("__repr__", &KalmanFilterObservable::display_string);
-
-            // ----- xo::kalman::KalmanFilterInput -----
-
-            py::class_<KalmanFilterInput,
-                       SelfTagging,
-                       rp<KalmanFilterInput>>(m, "KalmanFilterInput")
-                //.def(py::init<utc_nanos, VectorXd>(),
-                //     py::arg("tkp1"), py::arg("z"))
-                .def("n_observable", &KalmanFilterInput::n_obs)
-                .def_property_readonly("tkp1", &KalmanFilterInput::tkp1)
-                .def_property_readonly("z", &KalmanFilterInput::z)
-                .def("__repr__", &KalmanFilterInput::display_string);
-
-            m.def("make_kalman_filter_input", &KalmanFilterInput::make,
-                  py::arg("tkp1"), py::arg("presence"), py::arg("z"), py::arg("zerr"));
-
-            // ----- xo::kalman::KalmanFilterStep -----
-
-            py::class_<KalmanFilterStep>(m, "KalmanFilterStep")
-                .def(py::init<rp<KalmanFilterState>, KalmanFilterTransition, KalmanFilterObservable, rp<KalmanFilterInput>>(),
-                     py::arg("state"), py::arg("model"), py::arg("obs"), py::arg("input"))
-                .def_property_readonly("state", &KalmanFilterStep::state)
-                .def_property_readonly("model", &KalmanFilterStepBase::model)
-                .def_property_readonly("obs", &KalmanFilterStepBase::obs)
-                .def_property_readonly("input", &KalmanFilterStep::input)
-                .def("extrapolate", &KalmanFilterStep::extrapolate)
-                .def("gain", &KalmanFilterStep::gain)
-                .def("gain1", &KalmanFilterStep::gain1)
-                .def("correct", &KalmanFilterStep::correct)
-                .def("correct1", &KalmanFilterStep::correct1)
-                .def("__repr__", &KalmanFilterStep::display_string);
-
-            // ----- xo::kalman::KalmanFilterSpec -----
-
-            py::class_<KalmanFilterSpec>(m, "KalmanFilterSpec")
-                .def(py::init<rp<KalmanFilterStateExt>, KalmanFilterSpec::MkStepFn>(),
-                     py::arg("s0"), py::arg("mkstepfn"))
-                .def("start_ext", &KalmanFilterSpec::start_ext)
-                .def("make_step", &KalmanFilterSpec::make_step,
-                     py::arg("sk"), py::arg("zkp1"))
-                .def("__repr__", &KalmanFilterSpec::display_string);
-
-            // ----- xo::kalman::KalmanFilterEngine -----
-
-            m.def("kf_engine_extrapolate",
-                  &KalmanFilterEngine::extrapolate);
-            m.def("kf_engine_gain",
-                  &KalmanFilterEngine::kalman_gain);
-            m.def("kf_engine_gain1",
-                  &KalmanFilterEngine::kalman_gain1);
-            m.def("kf_engine_correct",
-                  &KalmanFilterEngine::correct);
-            m.def("kf_engine_correct1",
-                  &KalmanFilterEngine::correct1);
-
-            // ----- xo::kalman::KalmanFilter -----
-
-            py::class_<KalmanFilter>(m, "KalmanFilter")
-                .def(py::init<KalmanFilterSpec>(),
-                     py::arg("spec"))
-                .def_property_readonly("step_no", &KalmanFilter::step_no)
-                .def_property_readonly("tm", &KalmanFilter::tm)
-                .def_property_readonly("filter_spec", &KalmanFilter::filter_spec)
-                .def_property_readonly("step", &KalmanFilter::step)
-                .def_property_readonly("state_ext", &KalmanFilter::state_ext)
-                .def("notify_input", &KalmanFilter::notify_input)
-                .def("__repr__", &KalmanFilter::display_string);
-
-            // ----- xo::kalman::KalmanFilterSvc -----
-
-            py::class_<KalmanFilterSvc,
-                       ReactorSource,
-                       AbstractSink,
-                       rp<KalmanFilterSvc>>(m, "KalmanFilterSvc")
-                .def_property_readonly("filter", &KalmanFilterSvc::filter)
-                .def_property_readonly("last_annexed_ev", &KalmanFilterSvc::last_annexed_ev);
-
-            m.def("make_kalman_filter",
-                  &KalmanFilterSvc::make,
-                  py::arg("spec"));
-
-            // ----- xo::kalman::KalmanFilterInputToConsole -----
-
-            py::class_<KalmanFilterInputToConsole, AbstractSink, rp<KalmanFilterInputToConsole>>
-                (m, "KalmanFilterInputToConsole");
-
-            /* prints KalmanFilterInput events to console */
-            m.def("make_kalman_filter_input_printer", &KalmanFilterInputToConsole::make);
-
-            // ----- xo::kalman::KalmanFilterStateToConsole -----
-
-            py::class_<KalmanFilterStateToConsole, AbstractSink, rp<KalmanFilterStateToConsole>>
-                (m, "KalmanFilterStateToConsole");
-
-            /* prints KalmanFilterStateExt events to console */
-            m.def("make_kalman_filter_state_printer", &KalmanFilterStateToConsole::make);
-
-            // ----- xo::kalman::KalmanFilterStateStore -----
-
-            using KalmanFilterStateEventStore
-                = PtrEventStore<rp<KalmanFilterStateExt>>;
-
-            /* see also: UpxEventStore in [pyprocess/pyprocess.cpp]
-             *           BboTickStore in [pyoption/pyoption.cpp]
-             */
-            py::class_<KalmanFilterStateEventStore,
-                       AbstractSink,
-                       AbstractEventStore,
-                       rp<KalmanFilterStateEventStore>>
-                (m, "KalmanFilterStateEventStore")
-                .def_static("make", &KalmanFilterStateEventStore::make)
-                .def("last_n", &KalmanFilterStateEventStore::last_n, py::arg("n"))
-                .def("last_dt", &KalmanFilterStateEventStore::last_dt, py::arg("dt"));
-            //.def("__repr__", &KalmanFilterStateEventStore::display_string);
-
-
-#ifdef OBSOLETE
-            // ----- xo::option::Pxtick -----
-
-            py::enum_<Pxtick>(m, "Pxtick")
-                .value("nickel_dime", Pxtick::nickel_dime);
-            //.export_values(); // only need this for pre-c++11-style enum inside a class
-
-            // ----- xo::option::OptionStrikeSet -----
-
-            py::class_<OptionStrikeSet,
-                       rp<OptionStrikeSet>>(m, "OptionStrikeSet")
-                .def("get_options",
-                     [](OptionStrikeSet const & x) {
-                         std::vector<rp<VanillaOption>> v;
-                         x.append_options(&v);
-                         return v;
-                     })
-#endif
-                } /*filter_py*/
-    } /*namespace filter*/
-} /*namespace xo*/
-
-/* end pykalmanfilter.cpp */
diff --git a/.xo-pykalmanfilter/src/pykalmanfilter/pykalmanfilter.hpp.in b/.xo-pykalmanfilter/src/pykalmanfilter/pykalmanfilter.hpp.in
deleted file mode 100644
index f2b1207d..00000000
--- a/.xo-pykalmanfilter/src/pykalmanfilter/pykalmanfilter.hpp.in
+++ /dev/null
@@ -1,25 +0,0 @@
-/* @file pykalmanfilter.hpp
- *
- * automatically generated from src/pykalmanfilter/pykalmanfilter.hpp.in
- * see src/pykalmanfilter/CMakeLists.txt
- */
-
-/* python requires module name = library name
- * example:
- *   PYBIND11_MODULE(PYKALMANFILTER_MODULE_NAME(), m) { ... }
- */
-#define PYKALMANFILTER_MODULE_NAME() @SELF_LIB@
-
-/* example:
- *   py::module_::import(PYKALMANFILTER_MODULE_NAME_STR)
- */
-#define PYKALMANFILTER_MODULE_NAME_STR "@SELF_LIB@"
-
-/* example:
- *   PYKALMANFILTER_IMPORT_MODULE()
- * replaces
- *   py::module_::import("pykalmanfilter")
- */
-#define PYKALMANFILTER_IMPORT_MODULE() py::module_::import("@SELF_LIB@")
-
-/* end pykalmanfilter.hpp */