MalcolmMielle

temperature: 0.5
maxTokens: 4096
---

<system>
You will be acting as a senior software engineer explaining and reviewing a PR with a colleague.
</system>

Start by greeting your collegue.

MalcolmMielle

# This script will create a graph with a light grey grid to see the spacing between values
# The axis will be visible only on the bottom and left, and both the axis and labels will
# be light blue/green

import matplotlib
import matplotlib.pyplot as plt

matplotlib.use("pgf")
matplotlib.rcParams.update(
    {

MalcolmMielle

def convert_acc(acc):
    """Convert raw accelerometer measurements in roll pitch yaw
    https://stackoverflow.com/questions/3755059/3d-accelerometer-calculate-the-orientation
    The yaw equation comes from here https://robotics.stackexchange.com/questions/14305/yaw-from-accelerometer-no-so-what-do-these-equations-actually-mean
    If you have a magnetometer check out https://habr.com/en/post/499190/
    Args:
        acc (np.array): Array containing the three raw measurements on the accelerometer along
        x, y, z

    Returns:

MalcolmMielle

from typing import Tuple
import numpy as np

class BaseKF:
    """This class can hold either a Kalman filter or an extended kalman filter depending on 
    the way f and h are implemented.
    """
    def __init__(self, z0: np.array, r: np.array, q: np.array, pval=0.1) -> None:
        self.x_sk = z0
        self.n = q.shape[0]  # number of state