kalbee 0.1.0__py3-none-any.whl

kalbee/__init__.py

@@ -0,0 +1,17 @@
+from kalbee.modules.filters import (
+    BaseFilter,
+    KalmanFilter,
+    ExtendedKalmanFilter,
+    AlphaBetaGammaFilter,
+    AutoFilter,
+)
+
+__version__ = "0.1.0"
+
+__all__ = [
+    "BaseFilter",
+    "KalmanFilter",
+    "ExtendedKalmanFilter",
+    "AlphaBetaGammaFilter",
+    "AutoFilter",
+]

kalbee/modules/filters/__init__.py

@@ -0,0 +1,13 @@
+from kalbee.modules.filters.base import BaseFilter
+from kalbee.modules.filters.kf_filter import KalmanFilter
+from kalbee.modules.filters.abg_filter import AlphaBetaGammaFilter
+from kalbee.modules.filters.ekf_filter import ExtendedKalmanFilter
+from kalbee.modules.filters.auto_filter import AutoFilter
+
+__all__ = [
+    "BaseFilter",
+    "KalmanFilter",
+    "AlphaBetaGammaFilter",
+    "ExtendedKalmanFilter",
+    "AutoFilter",
+]

kalbee/modules/filters/abg_filter.py

@@ -0,0 +1,72 @@
+import numpy as np
+from typing import Optional
+from kalbee.modules.filters.base import BaseFilter
+
+
+class AlphaBetaGammaFilter(BaseFilter):
+    """
+    Implementation of the Alpha-Beta-Gamma filter.
+    Used for tracking position, velocity, and acceleration with constant gains.
+    """
+
+    def __init__(
+        self,
+        state: np.ndarray,
+        alpha: float,
+        beta: float,
+        gamma: float,
+        initial_covariance: Optional[np.ndarray] = None,
+    ):
+        """
+        Initialize the alpha-beta-gamma filter.
+
+        Args:
+            state: Initial state vector [x, v, a]^T
+            alpha: Position gain
+            beta: Velocity gain
+            gamma: Acceleration gain
+            initial_covariance: Optional initial covariance (P)
+        """
+        if initial_covariance is None:
+            # Default identity covariance if not provided
+            initial_covariance = np.eye(len(state))
+
+        super().__init__(state, initial_covariance)
+        self.alpha = alpha
+        self.beta = beta
+        self.gamma = gamma
+
+    def predict(self, dt: float = 1.0, **kwargs) -> np.ndarray:
+        """
+        Advance the state using the kinematics model:
+        x_k = x_{k-1} + v_{k-1}*dt + 0.5*a_{k-1}*dt^2
+        v_k = v_{k-1} + a_{k-1}*dt
+        a_k = a_{k-1}
+        """
+        x, v, a = self.state.flatten()
+
+        new_x = x + v * dt + 0.5 * a * (dt**2)
+        new_v = v + a * dt
+        new_a = a
+
+        self.state = np.array([[new_x], [new_v], [new_a]])
+
+        # In ABG filters, we typically don't update P during predict
+        # as gains are fixed.
+        return self.state
+
+    def update(self, measurement: np.ndarray, dt: float = 1.0, **kwargs) -> np.ndarray:
+        """
+        Update the state using the residual and fixed gains alpha, beta, gamma.
+        """
+        # Residual (innovation) - comparing measurement to predicted position
+        z = np.asanyarray(measurement).flatten()[0]
+        x_pred = self.state[0, 0]
+        residual = z - x_pred
+
+        # Apply corrections
+        self.state[0, 0] += self.alpha * residual
+        self.state[1, 0] += (self.beta / dt) * residual
+        self.state[2, 0] += (self.gamma / (2 * dt**2)) * residual
+
+        return self.state

kalbee/modules/filters/auto_filter.py

@@ -0,0 +1,46 @@
+from kalbee.modules.filters.base import BaseFilter
+from kalbee.modules.filters.kf_filter import KalmanFilter
+from kalbee.modules.filters.abg_filter import AlphaBetaGammaFilter
+from kalbee.modules.filters.ekf_filter import ExtendedKalmanFilter
+
+
+class AutoFilter:
+    """
+    Factory class for creating filter instances.
+    """
+
+    @staticmethod
+    def from_filter(*args, mode: str = "kalmanfilter", **kwargs) -> BaseFilter:
+        """
+        Create a filter instance based on the specified mode.
+
+        Args:
+            mode: The type of filter to create.
+                  Options:
+                  - 'kalmanfilter', 'kf', 'kalman'
+                  - 'extendedkalmanfilter', 'ekf'
+                  - 'alphabetagamma', 'abg'
+            *args: Positional arguments passed to the filter constructor.
+            **kwargs: Keyword arguments passed to the filter constructor.
+
+        Returns:
+            An instance of a BaseFilter subclass.
+
+        Raises:
+            ValueError: If the mode is unknown.
+        """
+        mode_clean = mode.lower().replace("_", "").replace("-", "")
+
+        if mode_clean in ["kalmanfilter", "kf", "kalman"]:
+            return KalmanFilter(*args, **kwargs)
+
+        elif mode_clean in ["extendedkalmanfilter", "ekf"]:
+            return ExtendedKalmanFilter(*args, **kwargs)
+
+        elif mode_clean in ["alphabetagamma", "abg"]:
+            return AlphaBetaGammaFilter(*args, **kwargs)
+
+        else:
+            raise ValueError(
+                f"Unknown filter mode: '{mode}'. Available modes: kalmanfilter, ekf, abg."
+            )

kalbee/modules/filters/base.py

@@ -0,0 +1,106 @@
+from abc import ABC, abstractmethod
+from typing import Optional
+import numpy as np
+
+
+class BaseFilter(ABC):
+    """
+    Abstract base class for state estimation filters.
+
+    This class defines the interface for filters like Kalman Filter,
+    Extended Kalman Filter, and alpha-beta-gamma filters.
+    """
+
+    def __init__(
+        self,
+        state: np.ndarray,
+        covariance: np.ndarray,
+        transition_matrix: Optional[np.ndarray] = None,
+        transition_covariance: Optional[np.ndarray] = None,
+        measurement_matrix: Optional[np.ndarray] = None,
+        measurement_covariance: Optional[np.ndarray] = None,
+    ):
+        """
+        Initialize the filter.
+
+        Args:
+            state: Initial state vector (n x 1)
+            covariance: Initial state uncertainty matrix (n x n)
+            transition_matrix: Matrix F that defines state progression.
+            transition_covariance: Process noise covariance matrix Q.
+            measurement_matrix: Matrix H that maps state to measurement.
+            measurement_covariance: Measurement noise covariance matrix R.
+        """
+        self.state = np.asanyarray(state).astype(float)
+        self.covariance = np.asanyarray(covariance).astype(float)
+
+        self.transition_matrix = transition_matrix
+        self.transition_covariance = transition_covariance
+        self.measurement_matrix = measurement_matrix
+        self.measurement_covariance = measurement_covariance
+
+    @property
+    def x(self) -> np.ndarray:
+        """Current state estimate."""
+        return self.state
+
+    @property
+    def P(self) -> np.ndarray:
+        """Current state covariance."""
+        return self.covariance
+
+    @abstractmethod
+    def predict(self, dt: float = 1.0, **kwargs) -> np.ndarray:
+        """
+        Predict the next state of the system.
+
+        Args:
+            dt: Time step since the last update.
+            **kwargs: Additional parameters for specific implementations.
+
+        Returns:
+            The predicted state vector.
+        """
+        pass
+
+    @abstractmethod
+    def update(self, measurement: np.ndarray, **kwargs) -> np.ndarray:
+        """
+        Update the state estimate with a new measurement.
+
+        Args:
+            measurement: The observed measurement vector.
+            **kwargs: Additional parameters for specific implementations.
+
+        Returns:
+            The updated state vector.
+        """
+        pass
+
+    def measure(self, state: Optional[np.ndarray] = None) -> np.ndarray:
+        """
+        Map a state to the measurement space.
+
+        Args:
+            state: The state to map. If None, uses internal state.
+
+        Returns:
+            The expected measurement.
+        """
+        if state is None:
+            state = self.state
+        if self.measurement_matrix is None:
+            raise ValueError("Measurement matrix H is not defined.")
+        return self.measurement_matrix @ state
+
+    def _check_input(
+        self, state: Optional[np.ndarray], measurement: Optional[np.ndarray]
+    ):
+        """
+        Utility for backward compatibility and input validation.
+        """
+        if state is None:
+            state = self.state
+        if measurement is None and self.measurement_matrix is not None:
+            measurement = np.random.rand(self.measurement_matrix.shape[0], 1)
+        return state, measurement

kalbee/modules/filters/ekf_filter.py

@@ -0,0 +1,149 @@
+from typing import Optional, Callable
+import numpy as np
+
+from kalbee.modules.filters.base import BaseFilter
+
+
+class ExtendedKalmanFilter(BaseFilter):
+    """
+    Extended Kalman Filter (EKF) implementation for non-linear systems.
+
+    The EKF handles non-linearity by linearizing the system at the current estimate
+    using Jacobians.
+    """
+
+    def __init__(
+        self,
+        state: np.ndarray,
+        covariance: np.ndarray,
+        transition_covariance: np.ndarray,
+        measurement_covariance: np.ndarray,
+        transition_function: Optional[Callable[[np.ndarray, float], np.ndarray]] = None,
+        measurement_function: Optional[Callable[[np.ndarray], np.ndarray]] = None,
+        transition_jacobian: Optional[Callable[[np.ndarray, float], np.ndarray]] = None,
+        measurement_jacobian: Optional[Callable[[np.ndarray], np.ndarray]] = None,
+    ):
+        """
+        Initialize the EKF.
+
+        Args:
+            state: Initial state vector (x).
+            covariance: Initial state covariance matrix (P).
+            transition_covariance: Process noise covariance (Q).
+            measurement_covariance: Measurement noise covariance (R).
+            transition_function: Function f(x, dt) returning the predicted state.
+            measurement_function: Function h(x) returning the measurement from state.
+            transition_jacobian: Function F(x, dt) returning the Jacobian of f.
+            measurement_jacobian: Function H(x) returning the Jacobian of h.
+        """
+        # We pass None for matrices that are dynamic/non-linear
+        super().__init__(
+            state=state,
+            covariance=covariance,
+            transition_covariance=transition_covariance,
+            measurement_covariance=measurement_covariance,
+            transition_matrix=None,
+            measurement_matrix=None,
+        )
+
+        self.transition_function = transition_function
+        self.measurement_function = measurement_function
+        self.transition_jacobian = transition_jacobian
+        self.measurement_jacobian = measurement_jacobian
+
+    def predict(self, dt: float = 1.0, **kwargs) -> np.ndarray:
+        """
+        Predict step for EKF.
+
+        Args:
+            dt: Time step.
+            kwargs:
+                f: Optional override for transition function.
+                F: Optional override for transition Jacobian.
+        """
+        # 1. State Prediction: x = f(x, u)
+        f_func = kwargs.get("f", self.transition_function)
+        if f_func is None:
+            raise ValueError(
+                "Transition function 'f' must be defined either in init or kwargs."
+            )
+
+        # We assume f takes (state, dt)
+        self.state = f_func(self.state, dt)
+
+        # 2. Covariance Prediction: P = FPF' + Q
+        F_func = kwargs.get("F", self.transition_jacobian)
+
+        # If F is a matrix (constant Jacobian), use it directly
+        if isinstance(F_func, np.ndarray):
+            F = F_func
+        elif callable(F_func):
+            F = F_func(self.state, dt)
+        else:
+            raise ValueError(
+                "Transition Jacobian 'F' must be defined either in init or kwargs."
+            )
+
+        Q = self.transition_covariance
+        self.covariance = F @ self.covariance @ F.T + Q
+
+        return self.state
+
+    def update(self, measurement: np.ndarray, **kwargs) -> np.ndarray:
+        """
+        Update step for EKF.
+
+        Args:
+            measurement: Measurement vector z.
+            kwargs:
+                h: Optional override for measurement function.
+                H: Optional override for measurement Jacobian.
+        """
+        # 1. Innovation: y = z - h(x)
+        h_func = kwargs.get("h", self.measurement_function)
+        if h_func is None:
+            raise ValueError(
+                "Measurement function 'h' must be defined either in init or kwargs."
+            )
+
+        z = measurement
+        y = z - h_func(self.state)
+
+        # 2. Innovation Covariance
+        H_func = kwargs.get("H", self.measurement_jacobian)
+
+        if isinstance(H_func, np.ndarray):
+            H = H_func
+        elif callable(H_func):
+            H = H_func(self.state)
+        else:
+            raise ValueError(
+                "Measurement Jacobian 'H' must be defined either in init or kwargs."
+            )
+
+        R = self.measurement_covariance
+        P = self.covariance
+
+        S = H @ P @ H.T + R
+
+        # 3. Kalman Gain: K = PH'S^-1
+        try:
+            K = P @ H.T @ np.linalg.inv(S)
+        except np.linalg.LinAlgError:
+            # Fallback or error handling for singular matrix
+            raise ValueError(
+                "Singular matrix encountered in EKF update (inversion of S)."
+            )
+
+        # 4. State Update: x = x + Ky
+        self.state = self.state + K @ y
+
+        # 5. Covariance Update (Joseph form for stability): P = (I - KH)P(I - KH)' + KRK'
+        identity = np.eye(len(self.state))
+        I_KH = identity - K @ H
+        self.covariance = I_KH @ P @ I_KH.T + K @ R @ K.T
+
+        # Enforce symmetry
+        self.covariance = (self.covariance + self.covariance.T) / 2.0
+
+        return self.state

kalbee/modules/filters/kf_filter.py

@@ -0,0 +1,75 @@
+import numpy as np
+
+from kalbee.modules.filters.base import BaseFilter
+
+
+class KalmanFilter(BaseFilter):
+    """
+    Standard Linear Kalman Filter implementation.
+    """
+
+    def __init__(
+        self,
+        state: np.ndarray,
+        covariance: np.ndarray,
+        transition_matrix: np.ndarray,
+        transition_covariance: np.ndarray,
+        measurement_matrix: np.ndarray,
+        measurement_covariance: np.ndarray,
+    ):
+        super().__init__(
+            state=state,
+            covariance=covariance,
+            transition_matrix=transition_matrix,
+            transition_covariance=transition_covariance,
+            measurement_matrix=measurement_matrix,
+            measurement_covariance=measurement_covariance,
+        )
+
+    def predict(self, dt: float = 1.0, **kwargs) -> np.ndarray:
+        """
+        Predict the next state:
+        x = Fx
+        P = FPF' + Q
+        """
+        F = self.transition_matrix
+        Q = self.transition_covariance
+
+        # In a real KF, F might depend on dt.
+        # For simplicity, we assume F is already set or passed in kwargs.
+        if "F" in kwargs:
+            F = kwargs["F"]
+
+        self.state = F @ self.state
+        self.covariance = F @ self.covariance @ F.T + Q
+
+        return self.state
+
+    def update(self, measurement: np.ndarray, **kwargs) -> np.ndarray:
+        """
+        Update the state with a measurement:
+        y = z - Hx (residual)
+        S = HPH' + R (innovation covariance)
+        K = P H' S^-1 (Kalman gain)
+        x = x + Ky
+        P = (I - KH)P
+        """
+        z = measurement
+        H = self.measurement_matrix
+        R = self.measurement_covariance
+        P = self.covariance
+        x = self.state
+
+        # Innovation
+        y = z - H @ x
+        # Innovation covariance
+        S = H @ P @ H.T + R
+        # Kalman gain
+        K = P @ H.T @ np.linalg.inv(S)
+
+        # Update state and covariance
+        self.state = x + K @ y
+        identity = np.eye(P.shape[0])
+        self.covariance = (identity - K @ H) @ P
+
+        return self.state

kalbee-0.1.0.dist-info/LICENSE

@@ -0,0 +1,201 @@
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+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

kalbee-0.1.0.dist-info/METADATA

@@ -0,0 +1,117 @@
+Metadata-Version: 2.1
+Name: kalbee
+Version: 0.1.0
+Summary: A clean, modular Python implementation of Kalman Filters and estimation algorithms.
+Author-email: Le Duc Minh <minh.leduc.0210@gmail.com>
+Maintainer-email: Le Duc Minh <minh.leduc.0210@gmail.com>
+Project-URL: Homepage, https://github.com/MinLee0210/kalbee
+Project-URL: Repository, https://github.com/MinLee0210/kalbee
+Keywords: kalman-filter,extended-kalman-filter,ekf,state-estimation,sensor-fusion,tracking,alpha-beta-gamma,robotics,signal-processing,python
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy >=1.24.4
+Requires-Dist: pytest >=8.3.5
+Requires-Dist: ruff >=0.14.13
+Requires-Dist: scikit-learn >=1.3.2
+
+# kalbee 🐝
+
+<div align="center">
+  <img src="docs/kalbee.png" alt="kalbee logo" width="300"/>
+</div>
+
+<br>
+
+`kalbee` is a clean, modular Python implementation of Kalman Filters and related estimation algorithms. Designed for simplicity and performance, it provides a standard interface for state estimation in various applications.
+
+## ✨ Features
+
+- **Standard Kalman Filter (KF)**: Linear estimation for dynamic systems.
+- **Extended Kalman Filter (EKF)**: Support for non-linear systems using Jacobians.
+- **Alpha-Beta-Gamma Filter**: Lightweight filtering for kinematic tracking.
+- **AutoFilter**: Factory pattern for easy filter instantiation.
+- **Modular Design**: Easy to extend with new filter types.
+- **NumPy Integration**: Optimized for numerical computations.
+- **Robustness**: Uses Joseph form for numerically stable covariance updates.
+
+## 🚀 Installation
+
+You can install `kalbee` directly from the source:
+
+```bash
+git clone https://github.com/MinLee0210/kalbee.git
+cd kalbee
+pip install .
+```
+
+Or using `uv` (recommended):
+
+```bash
+uv pip install -e .
+```
+
+## 🛠️ Quick Start
+
+### 1. Standard Kalman Filter
+
+```python
+import numpy as np
+from kalbee.modules.filters import KalmanFilter
+
+# Define matrices
+state = np.zeros((2, 1))  # [position, velocity]
+cov = np.eye(2)
+F = np.array([[1, 1], [0, 1]])  # Constant velocity model (dt=1)
+Q = np.eye(2) * 0.01
+H = np.array([[1, 0]])          # We measure position
+R = np.array([[0.1]])
+
+# Initialize
+kf = KalmanFilter(state, cov, F, Q, H, R)
+
+# Predict & Update
+kf.predict()
+kf.update(np.array([[1.2]]))
+
+print(f"Estimated State:\n{kf.x}")
+```
+
+### 2. AutoFilter Factory
+
+Easily switch between filters using the `AutoFilter` factory:
+
+```python
+from kalbee.modules.filters import AutoFilter
+
+# Create an EKF
+ekf = AutoFilter.from_filter(
+    state, cov, Q, R,
+    mode='ekf',
+    transition_function=my_f,
+    measurement_function=my_h
+)
+```
+
+## 📚 Documentation
+
+Detailed documentation and examples can be found in the `docs/` directory.
+
+- [Getting Started](docs/getting_started.md)
+- [Filtering Logic](docs/filtering_logic.md)
+
+## 🧪 Testing
+
+Run these commands to test the library:
+
+```bash
+uv run pytest tests/
+```
+
+## 📄 License
+
+This project is licensed under the Apache License 2.0.
+
+## 🤝 Contributing
+
+Contributions are welcome! Please feel free to submit a Pull Request. Check `TODO.md` for ideas.

kalbee-0.1.0.dist-info/RECORD

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kalbee-0.1.0.dist-info/WHEEL

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+Generator: setuptools (75.3.3)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

kalbee-0.1.0.dist-info/top_level.txt

@@ -0,0 +1 @@
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