imt-ring 1.6.7__tar.gz → 1.6.9__tar.gz

{imt_ring-1.6.7 → imt_ring-1.6.9}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.7
+Version: 1.6.9
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring

{imt_ring-1.6.7 → imt_ring-1.6.9}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.6.7"
+version = "1.6.9"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.6.7 → imt_ring-1.6.9}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.7
+Version: 1.6.9
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring

{imt_ring-1.6.7 → imt_ring-1.6.9}/src/ring/algorithms/sensors.py

@@ -130,8 +130,8 @@ def magnetometer(rot: jax.Array, magvec: jax.Array) -> jax.Array:
 # - acc: m/s/s
 # - gyr: rad/s
 # - mag: a.u.
-NOISE_LEVELS = {"acc": 0.03, "gyr": jnp.deg2rad(0.5), "mag": 0.01}
-BIAS_LEVELS = {"acc": 0.1, "gyr": jnp.deg2rad(0.5), "mag": 0.0}
+NOISE_LEVELS = {"acc": 0.048, "gyr": jnp.deg2rad(0.7), "mag": 0.01}
+BIAS_LEVELS = {"acc": 0.5, "gyr": jnp.deg2rad(3.6), "mag": 0.0}
 
 
 def add_noise_bias(

{imt_ring-1.6.7 → imt_ring-1.6.9}/src/ring/base.py

@@ -590,12 +590,14 @@ class System(_Base):
 
         return sys
 
-    def findall_imus(self) -> list[str]:
-        return [name for name in self.link_names if name[:3] == "imu"]
+    def findall_imus(self, names: bool = True) -> list[str] | list[int]:
+        bodies = [name for name in self.link_names if name[:3] == "imu"]
+        return bodies if names else [self.name_to_idx(n) for n in bodies]
 
-    def findall_segments(self) -> list[str]:
-        imus = self.findall_imus()
-        return [name for name in self.link_names if name not in imus]
+    def findall_segments(self, names: bool = True) -> list[str] | list[int]:
+        imus = self.findall_imus(names=True)
+        bodies = [name for name in self.link_names if name not in imus]
+        return bodies if names else [self.name_to_idx(n) for n in bodies]
 
     def _bodies_indices_to_bodies_name(self, bodies: list[int]) -> list[str]:
         return [self.idx_to_name(i) for i in bodies]
@@ -615,6 +617,11 @@ class System(_Base):
         bodies = [i for i, _typ in enumerate(self.link_types) if _typ == typ]
         return self._bodies_indices_to_bodies_name(bodies) if names else bodies
 
+    def children(self, name: str, names: bool = False) -> list[int] | list[str]:
+        p = self.name_to_idx(name)
+        bodies = [i for i in range(self.num_links()) if self.link_parents[i] == p]
+        return bodies if (not names) else [self.idx_to_name(i) for i in bodies]
+
     def scan(self, f: Callable, in_types: str, *args, reverse: bool = False):
         """Scan `f` along each link in system whilst carrying along state.
 

{imt_ring-1.6.7 → imt_ring-1.6.9}/src/ring/maths.py

@@ -312,7 +312,7 @@ def quat_project(q: jax.Array, k: jax.Array) -> tuple[jax.Array, jax.Array]:
         k (jax.Array): Primary axis direction.
 
     Returns:
-        tuple[jax.Array, jax.Array]: Primary quaternion, residual quaternion
+        tuple(jax.Array, jax.Array): Primary quaternion, residual quaternion
     """
     phi_pri = 2 * jnp.arctan2(q[1:] @ k, q[0])
     # NOTE: CONVENTION

{imt_ring-1.6.7 → imt_ring-1.6.9}/src/ring/ml/base.py

@@ -77,6 +77,10 @@ class AbstractFilter(ABC):
     def search_attr(self, attr: str):
         return getattr(self, attr)
 
+    @property
+    def unwrapped_deep(self):
+        return self
+
 
 class AbstractFilterUnbatched(AbstractFilter):
     @abstractmethod
@@ -136,6 +140,10 @@ class AbstractFilterWrapper(AbstractFilter):
     def name(self):
         return self.unwrapped.name + " ->\n" + super().name
 
+    @property
+    def unwrapped_deep(self) -> AbstractFilter:
+        return self.unwrapped.unwrapped_deep
+
 
 class LPF_FilterWrapper(AbstractFilterWrapper):
     def __init__(