Reorganize directory structure

README.md

@@ -15,7 +15,5 @@ $ pip install numpy matplotlib geopy
 From the root directory of this repository run
 
 ```bash
-$ python -m kalman_filter
-```
-
-Which example is run can be changed in `kalman_filter/__main__.py`
+$ python main.py
+```

examples/gps_measurement.py

@@ -1,6 +1,7 @@
-from .kalman_filter import *
+from filter.kalman_filter import LinearKalmanFilter
 import matplotlib.pyplot as plt
 import csv
+import numpy as np
 import geopy.distance
 
 
@@ -52,11 +53,11 @@ The reset of the parameters are empirically determined
 """
 
 
-def simulate():
+def simulate(kalman_filter_t):
     # Read data
     
     x0_actual     = [48.993552704, 8.371038159]
-    x_measurement = read_csv_lat_long('res/29_03_2022_Unterreut_8_Karlsruhe.csv')
+    x_measurement = read_csv_lat_long('examples/res/29_03_2022_Unterreut_8_Karlsruhe.csv')
 
     
     # Simulation parameter definitions
@@ -90,7 +91,7 @@ def simulate():
     
     # Simulation
 
-    f = KalmanFilter(x0, P0, H, Q, F, G)
+    f = kalman_filter_t(x0, P0, H, Q, F, G)
 
 
     for i in range(1, n_iterations):
@@ -126,4 +127,4 @@ def simulate():
     ax3.plot(t, x_error_measurement*1000, label="Error in measured position in m")
     ax3.legend()
     
-    plt.show()
+    plt.show()

examples/second_order_system.py

@@ -1,5 +1,6 @@
-from .kalman_filter import *
+from filter.kalman_filter import LinearKalmanFilter
 import matplotlib.pyplot as plt
+import numpy as np
 
 
 """
@@ -24,7 +25,7 @@ The reset of the parameters are empirically determined
 """
 
 
-def simulate():
+def simulate(kalman_filter_t):
     # Simulation parameter definitions
 
     n_iterations = 500
@@ -52,7 +53,7 @@ def simulate():
     
     # Simulation
 
-    f = KalmanFilter(x0, P0, H, Q, F, G)
+    f = kalman_filter_t(x0, P0, H, Q, F, G)
 
 
     for i in range(1, n_iterations):
@@ -72,5 +73,4 @@ def simulate():
     plt.plot(t, x_actual[:, 0])
     plt.plot(t, x_kalman[:, 0])
     plt.plot(t, x_measurement[:, 0])
-    plt.show()
-
+    plt.show()

filter/kalman_filter.py

@@ -30,7 +30,7 @@ def identity_gen(A):
 #
 
 
-class KalmanFilter:
+class LinearKalmanFilter:
     def __init__(self, x0, P0, H, Q, F, G):
         self.x = x0 # Initial state
         self.P = P0 # Initial uncertainty

kalman_filter/__main__.py

@@ -1,10 +0,0 @@
-from . import gps_measurement as gps
-from . import second_order_system as sos
-
-
-def main():
-    gps.simulate()
-#    sos.simulate()
-
-if __name__ == '__main__':
-    main()

main.py

@@ -0,0 +1,11 @@
+from examples import gps_measurement as gps
+from examples import second_order_system as sos
+from filter.kalman_filter import LinearKalmanFilter
+
+
+def main():
+    gps.simulate(LinearKalmanFilter)
+    #sos.simulate(LinearKalmanFilter)
+
+if __name__ == '__main__':
+    main()