Utilities

Manifolds, result types, and time conversions

class Manifold

Constructors

Manifold.__init__
__init__(self, /, *args, **kwargs)

Methods

Manifold.box_plus
box_plus(unknown)

box_plus(self, arg0: numpy.ndarray[dtype=float64, shape=(*), order='C'], arg1: numpy.ndarray[dtype=float64, shape=(*), order='C'], /) -> numpy.ndarray[dtype=float64, shape=(*), order='C']

Manifold.box_minus
box_minus(unknown)

box_minus(self, arg0: numpy.ndarray[dtype=float64, shape=(*), order='C'], arg1: numpy.ndarray[dtype=float64, shape=(*), order='C'], /) -> numpy.ndarray[dtype=float64, shape=(*), order='C']

Manifold.mean
mean(unknown)

mean(self, arg0: collections.abc.Sequence[numpy.ndarray[dtype=float64, shape=(*), order='C']], arg1: collections.abc.Sequence[float], /) -> numpy.ndarray[dtype=float64, shape=(*), order='C']

Manifold.state_size
state_size(unknown)

state_size(self) -> int

Manifold.tangent_size
tangent_size(unknown)

tangent_size(self) -> int

class Euclidean(Manifold)

Constructors

Euclidean.__init__
__init__(unknown)

__init__(self, arg: int, /) -> None

class Quaternion(Manifold)

Constructors

Quaternion.__init__
__init__(unknown)

__init__(self) -> None

class UKFPredictionResult

Properties
z_mean
(self) -> numpy.ndarray[dtype=float64, shape=(*), order='C']
S_zz
(self) -> numpy.ndarray[dtype=float64, shape=(*, *), order='F']

Constructors

UKFPredictionResult.__init__
__init__(self, /, *args, **kwargs)

Module Functions

to_epoch_seconds
to_epoch_seconds(t: float | datetime.datetime | np.datetime64) -> float

Convert a time value to epoch seconds (float).

Parameters
t
Time as float (epoch seconds, passed through unchanged),
Returns

Epoch seconds as float.

Raises
from_epoch_seconds
from_epoch_seconds(seconds: float) -> np.datetime64

Convert epoch seconds to numpy.datetime64.

Parameters
seconds
Epoch seconds as float.
Returns

numpy.datetime64 with nanosecond resolution.

to_duration_seconds
to_duration_seconds(d: float | datetime.timedelta | np.timedelta64) -> float

Convert a duration value to seconds (float).

Parameters
d
Duration as float (seconds, passed through unchanged),
Returns

Duration in seconds as float.

Raises