ins stabilization.pxd with flow chart

ins stabilization.pxd

import numpy as np
cimport numpy as np

from ins_stabilization.algorithms.indirect_filter cimport *
# """
#                              +----------------+  estimated velocity
#                              |                |
# acceleration +---------------> Indirect       +----------------------------+
#                              | Wiener Process |                            |
# velocity     +---------------> Filter         |                            |
#                              |                |                            |
#                              +----------------+                            |
#                                                                            |
#                                                                            |
#                              +----------------+  estimated orientation     |
#                              |                |                            |
# angular velocity +-----------> Indirect       +-------------------------+  |
#                              | Wiener Process |                         |  |
# magnetometer orientation +-^-> Filter         |                         |  |
#                            | |                |                         |  |
#                            | +----------------+                         |  |
# additional orientation aid +                                            |  |
#                                                       +------------+    |  |
#                                                       |            <----+  |
#                         +-----------------------------+ resolution |       |
#                         |       carthesian            |            <-------+
#                         |       velocity              +------------+
#                         |
#                         |
#                         |    +----------------+  estimated position
#                         |    |                |
#                         +----> Indirect       +--------------------->
#                              | Wiener Process |
# position aid  +--------------> Filter         |
#                              |                |
#                              +----------------+
# """

cdef struct InsInput:
    double time
    double sensor_acceleration
    double sensor_velocity
    double sensor_angular_velocity
    double sensor_orientation

cdef struct InsCorrectionInput:
    double time
    Vector2 sensor_position


cdef struct InsState:
    IndirectWienerFilterState velocity
    IndirectWienerFilterState orientation
    IndirectWienerFilterState2 position
    
   
cdef struct InsParams:
    IndirectWienerFilterParams velocity
    IndirectWienerFilterParams orientation
    IndirectWienerFilterParams2 position

cdef initial_state(InsState* out)
cdef default_params(InsParams* out)

cdef update_ins(
        InsParams* params,
        InsInput* input, 
        InsState* state, 
        InsState* out)

cdef correct_ins(
        InsParams* params,
        InsCorrectionInput* input,
        InsState* state, 
        InsState* out)

cdef double get_orientation(InsState* state)
cdef double get_x(InsState* state)
cdef double get_y(InsState* state)
cdef double get_velocity(InsState* state)
cdef void copy_state(InsState* state, InsState* out)

cdef calibrate_ins(np.ndarray[double,ndim=2] ins_inputs,
                   np.ndarray[double,ndim=2] reference,
                   InsParams* out)

cpdef calibrate_ins_dict(np.ndarray[double,ndim=2] ins_inputs,
                         np.ndarray[double,ndim=2] reference)

cdef calibrate_ins_from_dict(object params_dict, InsParams* out)