Index

A

about_axis() (tools.Quaternion.Quaternion static method) acc (models.Camera.CameraMeasurementArray attribute) (models.Imu.Imu property) (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint attribute) (models.Probe.Probe property) acc_old (filter.Filter.Filter property) alp (models.Camera.CameraMeasurementArray attribute) (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint attribute) (models.Probe.Probe property) angle (tools.config.ModelConfig attribute) (tools.Quaternion.Quaternion property)

append() (visuals.MatrixPlotter.MatrixPlotter method) append_propagated_states() (models.trajectory.FilterTraj.FilterTraj method) append_to_file() (models.Imu.Imu method) append_updated_states() (models.trajectory.FilterTraj.FilterTraj method) append_value() (models.trajectory.ImuRefTraj.ImuRefTraj method) array (filter.state.State property) at_index() (models.Camera.CameraMeasurementArray method) (models.trajectory.VisualTrajectory.VisualTraj method) axis (tools.Quaternion.Quaternion property)

B

B_acc_BW_exp (in module kinematics.equations)

best_run_id (filter.Simulator.Simulator property)

C

C_om_CW_exp (in module kinematics.equations) calculate_dof_metric() (filter.Filter.Filter method) calculate_metric() (filter.Filter.Filter method) calculate_update_mse() (filter.Filter.Filter method) Camera (class in models.Camera) camera_pos (tools.config.States attribute) camera_theta (tools.config.States attribute) CameraConfig (class in tools.config) CameraInterpolated (class in models.Camera) CameraMeasurementArray (class in models.Camera) CameraMeasurementPoint (class in models.measurement_point.CameraMeasurementPoint) CameraNoise (class in tools.config)

CameraPlot (class in visuals.Plotter) clear() (models.Imu.Imu method) conf_q (models.Probe.TestProbe property) Config (class in tools.config) config (filter.Simulator.Simulator property) conjugate (tools.Quaternion.Quaternion property) constraints (models.Probe.RigidSimpleProbe attribute) (models.Probe.SimpleProbe attribute) cov0 (filter.Simulator.Simulator property) (tools.config.InitialConditions attribute) cov0_matrix (tools.config.InitialConditions property) create() (models.Imu.Imu static method) create_camera() (in module models.Camera)

D

ddofs (filter.state.ErrorState attribute) dndofs (filter.state.ErrorState attribute) do_fast_sim (tools.config.SimConfig attribute) do_plot (tools.config.SimConfig attribute) DofRef (class in visuals.Plotter) dofs (filter.state.State attribute) dofs_rot (tools.config.States attribute) dofs_trans (tools.config.States attribute)

dofs_updated (tools.config.Config property) DofsNoise (class in tools.config) dp (filter.state.ErrorState attribute) dpc (filter.state.ErrorState attribute) dq (filter.state.ErrorState attribute) dqc (filter.state.ErrorState attribute) dummify_array() (in module kinematics.functions) dummify_undefined_functions() (in module kinematics.functions) dv (filter.state.ErrorState attribute)

E

ErrorState (class in filter.state) euler_error_checking() (in module tools.math) euler_xyz_deg (tools.Quaternion.Quaternion property) euler_xyz_rad (tools.Quaternion.Quaternion property)

euler_zyx_deg (tools.Quaternion.Quaternion property) euler_zyx_rad (tools.Quaternion.Quaternion property) eval_expr_single() (models.Imu.Imu method) eval_init() (models.Imu.Imu method)

F

f_imu (in module kinematics.equations) f_imu_meas (in module kinematics.equations) filter module Filter (class in filter.Filter) filter.Filter module filter.Simulator module filter.state module

FilterConfig (class in tools.config) FilterPlot (class in visuals.Plotter) FilterTraj (class in models.trajectory.FilterTraj) flag_done (models.trajectory.Interpolator.Interpolator property) flag_interpolated (models.Camera.Camera property) (models.Imu.Imu property) from_array() (filter.state.ErrorState static method) (filter.state.State static method) from_camera() (models.Camera.CameraMeasurementArray static method) frozen_dofs (tools.config.SimConfig attribute) fwkin (models.Probe.Probe property)

G

gen_angle_arrays() (models.trajectory.VisualTrajectory.VisualTraj method) gen_rotated() (models.Camera.Camera method) generate_imudof_ic() (in module tools.utils) generate_traj() (models.Imu.Imu method) get_dataframe() (in module tools.files) get_err_pc_dot() (in module kinematics.symbols) get_err_theta_c_dot() (in module kinematics.symbols)

get_est_fwkin() (models.Probe.SymProbe method) get_ic() (in module tools.utils) get_notch_vec_at() (models.Camera.Camera method) get_omega_local() (in module tools.spatial) get_sym() (models.Probe.Probe method) get_upd_values() (in module tools.utils) gravity (tools.config.ImuConfig attribute)

H

handle_not_exist() (in module tools.files)

hessian_symbolic() (models.Probe.Probe method)

I

ic (tools.config.FilterConfig attribute) img_filepath_cam (visuals.Plotter.FilterPlot attribute) img_path (tools.config.SimConfig attribute) Imu (class in models.Imu) imu_dofs (models.Probe.Probe property) imu_pos (tools.config.States attribute) imu_theta (tools.config.States attribute) imu_vel (tools.config.States attribute) ImuConfig (class in tools.config)

ImuRefTraj (class in models.trajectory.ImuRefTraj) ImuTraj (class in models.trajectory.ImuTrajectory) InitialConditions (class in tools.config) interframe_vals (models.Camera.CameraInterpolated property) (tools.config.ImuConfig attribute) interpolate() (in module tools.spatial) (models.Camera.Camera method) (models.trajectory.Interpolator.Interpolator method) interpolated (models.trajectory.Interpolator.Interpolator property) Interpolator (class in models.trajectory.Interpolator)

J

joint_dofs (models.Probe.Probe property)

K

kinematics module kinematics.equations module kinematics.functions module

kinematics.symbols module kinematics.transformations module

L

labels (models.trajectory.FilterTraj.FilterTraj attribute) (models.trajectory.ImuRefTraj.ImuRefTraj attribute) (models.trajectory.ImuTrajectory.ImuTraj attribute) (models.trajectory.TrajectoryBase.TrajectoryBase attribute) (models.trajectory.VisualTrajectory.VisualTraj attribute)

labels_camera (models.trajectory.FilterTraj.FilterTraj attribute) labels_imu (models.trajectory.FilterTraj.FilterTraj attribute) labels_imu_dofs (models.trajectory.FilterTraj.FilterTraj attribute) length (tools.config.ModelConfig attribute) lims (models.trajectory.VisualTrajectory.VisualTraj property)

M

MatrixPlotter (class in visuals.MatrixPlotter) mode (tools.config.SimConfig attribute) ModelConfig (class in tools.config) models module models.Camera module models.Imu module models.measurement_point module models.measurement_point.CameraMeasurementPoint module models.measurement_point.VisualMeasurementPoint module models.Probe module models.trajectory module models.trajectory.FilterTraj module models.trajectory.ImuRefTraj module models.trajectory.ImuTrajectory module models.trajectory.Interpolator module models.trajectory.TrajectoryBase module models.trajectory.VisualTrajectory module module filter filter.Filter filter.Simulator filter.state kinematics kinematics.equations kinematics.functions kinematics.symbols kinematics.transformations models models.Camera models.Imu models.measurement_point models.measurement_point.CameraMeasurementPoint models.measurement_point.VisualMeasurementPoint models.Probe models.trajectory models.trajectory.FilterTraj models.trajectory.ImuRefTraj models.trajectory.ImuTrajectory models.trajectory.Interpolator models.trajectory.TrajectoryBase models.trajectory.VisualTrajectory tools tools.config tools.config_enums tools.files tools.math tools.plots tools.printing tools.Quaternion tools.spatial tools.utils visuals visuals.decorators visuals.line_formats visuals.MatrixPlotter visuals.Plotter

N

noise (tools.config.CameraConfig attribute) noise_dofs (tools.config.FilterConfig property) noise_gyro (tools.config.ImuConfig property) noise_sample_rate (tools.config.ImuConfig attribute) normalise() (tools.Quaternion.Quaternion method) notch (models.Camera.CameraMeasurementArray attribute) (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint attribute) (tools.config.CameraNoise attribute) (tools.config.States attribute) notch_accel (tools.config.DofsNoise attribute) notch_arr (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint property)

notch_d (models.Camera.CameraMeasurementArray attribute) (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint attribute) notch_dd (models.Camera.CameraMeasurementArray attribute) (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint attribute) notch_dofs (filter.state.State attribute) notch_fp (tools.config.SimConfig attribute) notch_traj_name (tools.config.SimConfig attribute) np_string() (in module tools.printing) num_imu_between_frames (models.Imu.Imu property) num_kf_runs (tools.config.SimConfig attribute) num_values (models.trajectory.TrajectoryBase.TrajectoryBase property) nvals (models.Imu.Imu property)

O

om (models.Camera.CameraMeasurementArray attribute) (models.Imu.Imu property) (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint attribute) (models.Probe.Probe property)

Om_old (filter.Filter.Filter property) om_old (filter.Filter.Filter property) optim_std (filter.Simulator.Simulator property) optimise() (filter.Simulator.Simulator method)

P

p (filter.state.State attribute) (models.Camera.CameraMeasurementArray attribute) (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint attribute) (models.Probe.Probe property) p_cam (filter.state.State attribute) paths_exist() (tools.config.SimConfig class method) plot() (filter.Filter.Filter method) (filter.Simulator.Simulator method) (models.Camera.Camera method) (models.Probe.Probe method) (models.Probe.TestProbe method) (visuals.MatrixPlotter.MatrixPlotter method) (visuals.Plotter.CameraPlot method) (visuals.Plotter.FilterPlot method) (visuals.Plotter.Plotter method)

plot_compact() (visuals.Plotter.FilterPlot method) plot_imu() (in module tools.plots) plot_loop() (in module visuals.decorators) plot_notch() (models.Camera.Camera method) (visuals.Plotter.CameraPlot method) Plotter (class in visuals.Plotter) pos (models.measurement_point.VisualMeasurementPoint.VisualMeasurementPoint property) position (tools.config.CameraNoise attribute) print() (tools.config.Config method) Probe (class in models.Probe) process_noise (tools.config.FilterConfig attribute) propagate() (filter.Filter.Filter method) propagate_imu() (filter.Filter.Filter method)

Q

q (filter.state.State attribute) (models.measurement_point.VisualMeasurementPoint.VisualMeasurementPoint attribute) q_cam (filter.state.State attribute) q_cas (models.Probe.Probe property)

qd_cas (models.Probe.Probe property) qd_s_arr (models.Probe.Probe property) qdd_cas (models.Probe.Probe property) quat_matrix() (in module kinematics.symbols) Quaternion (class in tools.Quaternion)

R

R (models.Camera.CameraMeasurementArray attribute) (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint attribute) (models.Probe.Probe property) R_acc_avg_exp (in module kinematics.equations) read_notch_from_file() (models.trajectory.VisualTrajectory.VisualTraj method) reconstruct() (models.Imu.Imu method) (models.trajectory.ImuTrajectory.ImuTraj method) reconstruct_vis_traj() (models.trajectory.ImuTrajectory.ImuTraj method) ref_vals() (models.Imu.Imu method) reset() (filter.Filter.Filter method) (models.Imu.Imu method) (models.trajectory.TrajectoryBase.TrajectoryBase method) reset_kf() (filter.Simulator.Simulator method) RigidSimpleProbe (class in models.Probe) rot (tools.Quaternion.Quaternion property) ROT1 (models.Probe.RigidSimpleProbe attribute) (models.Probe.SimpleProbe attribute)

ROT2 (models.Probe.RigidSimpleProbe attribute) (models.Probe.SimpleProbe attribute) ROT3 (models.Probe.RigidSimpleProbe attribute) (models.Probe.SimpleProbe attribute) rotation (tools.config.DofsNoise attribute) RUN (tools.config_enums.SimMode attribute) run() (filter.Filter.Filter method) (filter.Simulator.Simulator method) run_once() (filter.Simulator.Simulator method) run_one_epoch() (filter.Filter.Filter method) rvec_to_quat() (in module kinematics.symbols) rx_degc_unwrapped (models.trajectory.FilterTraj.FilterTraj property) rx_unwrapped (models.trajectory.FilterTraj.FilterTraj property) ry_degc_unwrapped (models.trajectory.FilterTraj.FilterTraj property) ry_unwrapped (models.trajectory.FilterTraj.FilterTraj property) rz_degc_unwrapped (models.trajectory.FilterTraj.FilterTraj property) rz_unwrapped (models.trajectory.FilterTraj.FilterTraj property)

S

save() (filter.Filter.Filter method) (visuals.Plotter.Plotter method) save_trajectory() (in module tools.files) save_tuned_params() (in module tools.files) scale (tools.config.CameraConfig attribute) set_mode() (tools.config.SimConfig class method) set_total_frames() (tools.config.CameraConfig class method) show_plot() (in module visuals.decorators) SimConfig (class in tools.config) SimMode (class in tools.config_enums) SimpleProbe (class in models.Probe) Simulator (class in filter.Simulator)

SIZE (filter.state.ErrorState attribute) (filter.state.State attribute) skew() (in module tools.math) solve_for_omega() (in module tools.spatial) sp_rot (tools.Quaternion.Quaternion property) start_frame (tools.config.CameraConfig attribute) State (class in filter.state) States (class in tools.config) stdev_accel (tools.config.ImuConfig property) stdev_omega (tools.config.ImuConfig property) SymProbe (class in models.Probe) sympy2casadi() (in module kinematics.functions)

T

t (models.Camera.CameraMeasurementArray attribute) (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint attribute) (models.measurement_point.VisualMeasurementPoint.VisualMeasurementPoint attribute) T (models.Probe.Probe property) (models.Probe.TestProbe property) t (models.trajectory.VisualTrajectory.VisualTraj attribute) TestProbe (class in models.Probe) theta (filter.state.ErrorState attribute) (tools.config.CameraNoise attribute) theta_c (filter.state.ErrorState attribute) to_casadi() (in module kinematics.functions) to_radians() (tools.config.CameraNoise class method) (tools.config.DofsNoise class method) (tools.config.ModelConfig class method) (tools.config.States class method) to_world_coords() (in module kinematics.transformations) tools module tools.config module tools.config_enums module tools.files module

tools.math module tools.plots module tools.printing module tools.Quaternion module tools.spatial module tools.utils module total_frames (tools.config.CameraConfig attribute) traj_fp (tools.config.SimConfig attribute) traj_name (tools.config.SimConfig attribute) traj_path (tools.config.SimConfig attribute) TrajectoryBase (class in models.trajectory.TrajectoryBase) TRANS4 (models.Probe.RigidSimpleProbe attribute) (models.Probe.SimpleProbe attribute) TRANS5 (models.Probe.RigidSimpleProbe attribute) (models.Probe.SimpleProbe attribute) TRANS6 (models.Probe.RigidSimpleProbe attribute) (models.Probe.SimpleProbe attribute) translation (tools.config.DofsNoise attribute) TUNE (tools.config_enums.SimMode attribute)

U

u (filter.Filter.Filter property) update() (filter.Filter.Filter method)

update_dofs() (tools.config.Config method) update_noise_matrices() (filter.Filter.Filter method) update_sim_params() (models.Camera.Camera method)

V

v (filter.state.State attribute) (models.Camera.CameraMeasurementArray attribute) (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint attribute) (models.Probe.Probe property) (tools.Quaternion.Quaternion property) vec (models.measurement_point.CameraMeasurementPoint.CameraMeasurementPoint property) (models.measurement_point.VisualMeasurementPoint.VisualMeasurementPoint property) (tools.config.CameraNoise property) (tools.config.DofsNoise property) (tools.config.States property) vec_at() (models.Camera.Camera method)

VisualMeasurementPoint (class in models.measurement_point.VisualMeasurementPoint) visuals module visuals.decorators module visuals.line_formats module visuals.MatrixPlotter module visuals.Plotter module VisualTraj (class in models.trajectory.VisualTrajectory)

W

W_acc_BW_exp (in module kinematics.equations) with_notch (tools.config.CameraConfig attribute)

write_angvel_data() (in module tools.files) write_array_to_file() (models.Imu.Imu method) wxyz (tools.Quaternion.Quaternion property)

X

x (models.measurement_point.VisualMeasurementPoint.VisualMeasurementPoint attribute) x0 (tools.config.InitialConditions attribute)

x_lims (models.trajectory.VisualTrajectory.VisualTraj property) xyzw (tools.Quaternion.Quaternion property)

Y

y (models.measurement_point.VisualMeasurementPoint.VisualMeasurementPoint attribute)

y_lims (models.trajectory.VisualTrajectory.VisualTraj property)

Z

z (models.measurement_point.VisualMeasurementPoint.VisualMeasurementPoint attribute)

z_lims (models.trajectory.VisualTrajectory.VisualTraj property)