phausamann

import math
import numpy as np
from numba import guvectorize
from scipy.signal import filtfilt, butter
from quaternion import \
    quaternion, from_rotation_vector, as_float_array, as_quat_array


# --- Some utility functions --- #
def multiply(q, r):

phausamann

import numpy as np
from scipy.signal import filtfilt, butter
from quaternion import quaternion, from_rotation_vector, rotate_vectors


def estimate_orientation(a, w, t, alpha=0.9, g_ref=(0., 0., 1.),
                         theta_min=1e-6, highpass=.01, lowpass=.05):
    """ Estimate orientation with a complementary filter.

    Fuse linear acceleration and angular velocity measurements to obtain an

phausamann

:: Launch PyCharm from within conda environment

:: This will ensure that all necessary environment variables are set.
:: Modify the paths and environment name for your installation, if necessary.
:: This configuration is for PyCharm x64 installed with JetBrains Toolbox and 
:: will launch the latest installed version.

@set condaroot="%userprofile%\Anaconda3"
@set pycharmroot="%localappdata%\JetBrains\Toolbox\apps\PyCharm-P\ch-0"
@set env=base