Sidharth Jain Robomineboy
Robomineboy
/ gattii_ekf_update.py
Last active
April 30, 2026 14:13
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| import numpy as np | |
| def ekf_update(x, P, z, H, R): | |
| """ | |
| Extended Kalman Filter measurement update step. | |
| Fuses IMU quaternion orientation with FSR ground contact data | |
| to refine gait state estimates in real-time. | |
| Args: |