Make EKF more Generic and add TOML file for Handling Dependencies

filterpy/kalman/EKF.py

@@ -212,7 +212,7 @@ def predict_update(self, z, HJacobian, Hx, args=(), hx_args=(), u=0):
         if np.isscalar(z) and self.dim_z == 1:
             z = np.asarray([z], float)
 
-        F = self.F
+        F = self.FJacobian()
         B = self.B
         P = self.P
         Q = self.Q
@@ -341,14 +341,21 @@ def update(self, z, HJacobian, Hx, R=None, args=(), hx_args=(),
         self.x_post = self.x.copy()
         self.P_post = self.P.copy()
 
+    def FJacobian(self, u=0):
+        """
+        Calculates the Jacobian of the transition matrix. Override if F is not sufficient.
+        """
+        return self.F
+
     def predict_x(self, u=0):
         """
         Predicts the next state of X. If you need to
         compute the next state yourself, override this function. You would
         need to do this, for example, if the usual Taylor expansion to
         generate F is not providing accurate results for you.
         """
-        self.x = dot(self.F, self.x) + dot(self.B, u)
+        F = self.FJacobian()
+        self.x = dot(F, self.x) + dot(self.B, u)
 
     def predict(self, u=0):
         """
@@ -364,7 +371,8 @@ def predict(self, u=0):
         """
 
         self.predict_x(u)
-        self.P = dot(self.F, self.P).dot(self.F.T) + self.Q
+        F = self.FJacobian()
+        self.P = dot(F, self.P).dot(F.T) + self.Q
 
         # save prior
         self.x_prior = np.copy(self.x)
@@ -416,7 +424,7 @@ def __repr__(self):
             pretty_str('P', self.P),
             pretty_str('x_prior', self.x_prior),
             pretty_str('P_prior', self.P_prior),
-            pretty_str('F', self.F),
+            pretty_str('F', self.FJacobian()),
             pretty_str('Q', self.Q),
             pretty_str('R', self.R),
             pretty_str('K', self.K),

pyproject.toml

@@ -0,0 +1,83 @@
+[build-system]
+
+# requires is a list of packages that are needed to build your package.
+# You don’t need to install them;
+# build frontends like pip will install them automatically in a temporary,
+# isolated virtual environment for use during the build process
+requires = ["setuptools", "setuptools-scm", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools.packages.find]
+where = ["filterpy"]
+
+[tool.setuptools.package-data]
+"filterpy" = ["README.rst", "filterpy/changelog.txt", "LICENSE", "filterpy/kalman/tests/*.py"]
+
+[tool.flake8]
+max-line-length = 120
+extend-ignore = ["E265"]
+# Ignore block comment should start with '# ' because it causes issues with environment definition for scripts
+
+[tool.autopep8]
+max_line_length = 120
+in-place = 1
+aggressive = 1
+ignore = ""
+
+# this is the [project] table
+[project]
+# add the distribution name of the package, the tar ball and python wheel use this name, this name goes the /home/$USER/.local/lib/python3.8/site-packages/
+name = "filterpy"
+
+dynamic = ["dependencies", "optional-dependencies"]
+
+# version is the package version. See the version specifier specification
+# for more details on versions. Some build backends allow it to be
+# specified another way, such as from a file or a git tag.
+version = "0.2.0"
+authors = [
+  { name="Roger Labbe", email="rlabbejr@gmail.com" }
+]
+description = "Kalman filtering and optimal estimation library"
+readme = "README.rst"
+license = { file="LICENSE" }
+
+# installers like pip use this to check for matching python versions
+requires-python = ">=3.7"
+classifiers = [
+    # How mature is this project? Common values are
+    #   3 - Alpha
+    #   4 - Beta
+    #   5 - Production/Stable
+    "Development Status :: 5 - Production/Stable",
+
+    # Indicate who your project is intended for
+    "Intended Audience :: Developers",
+    "Intended Audience :: Education",
+    "Intended Audience :: Science/Research",
+    "Topic :: Scientific/Engineering",
+    "Topic :: Scientific/Engineering :: Mathematics",
+    "Topic :: Scientific/Engineering :: Physics",
+    "Topic :: Utilities",
+
+
+    # Pick your license as you wish (should match "license" above)
+    "License :: OSI Approved :: MIT License",
+
+    # Specify the Python versions you support here. In particular, ensure
+    # that you indicate whether you support Python 2, Python 3 or both.
+    "Programming Language :: Python :: 3.7",
+
+    "Operating System :: Microsoft :: Windows",
+    "Operating System :: POSIX",
+    "Operating System :: Unix",
+    "Operating System :: MacOS"
+]
+
+[tool.setuptools.dynamic]
+dependencies = {file = ["requirements.txt"]}
+optional-dependencies.readthedocs = {file = ["requirements.readthedocs.txt"]}
+
+[project.urls]
+"Homepage" = "http://github.com/rlabbe/filterpy"
+"Bug Tracker" = "http://github.com/rlabbe/filterpy/issues/"

requirements.txt

@@ -1,2 +1,3 @@
 numpy
 scipy
+matplotlib