formak.cpp

Module Contents

Classes

Config	Options for generating C++.
CppCompileResult
BasicBlock	A run of statements without control flow.
Model	C++ implementation of the model.
ExtendedKalmanFilter	C++ implementation of the EKF.

Functions

_generate_model_function_bodies
_generate_ekf_function_bodies
_compile_argparse
_header_body
header_from_ast
_source_body
source_from_ast
_compile_impl
compile
compile_ekf

Data

DEFAULT_MODULES
logger
ReadingT

API

formak.cpp.DEFAULT_MODULES = ('scipy', 'numpy', 'math')

formak.cpp.logger = 'getLogger(...)'

class formak.cpp.Config

Options for generating C++.

common_subexpression_elimination:

Remove common shared computation

extra_validation:

Catch errors earlier in exchange for increased compute time

common_subexpression_elimination: bool = True

extra_validation: bool = False

max_dt_sec: float = 0.1

innovation_filtering: float = 5.0

ccode()

class formak.cpp.CppCompileResult

success: bool = None

header_path: Optional[str] = None

source_path: Optional[str] = None

class formak.cpp.BasicBlock(*, statements: List[Tuple[str, Any]], indent: int, config: formak.cpp.Config)

A run of statements without control flow.

All statements can be reordered or changed to improve performance.

Initialization

__len__()

compile()

class formak.cpp.Model(symbolic_model, calibration_map, namespace, header_include, config)

C++ implementation of the model.

Initialization

_translate_model(symbolic_model)

_translate_return()

model_body()

enable_control()

enable_calibration()

formak.cpp.ReadingT = 'namedtuple(...)'

class formak.cpp.ExtendedKalmanFilter(state_model, process_noise, sensor_models, sensor_noises, namespace, header_include, config, calibration_map=None)

C++ implementation of the EKF.

Initialization

_translate_process_model(symbolic_model)

process_model_body()

_translate_process_jacobian(symbolic_model)

process_jacobian_body()

_translate_control_jacobian(symbolic_model)

control_jacobian_body()

_translate_return()

enable_control()

_translate_control_covariance(covariance)

control_covariance_body()

enable_calibration()

_translate_sensor_model(sensor_model_mapping)

reading_types(verbose=False)

_translate_sensor_jacobian_impl(sensor_model_mapping)

_translate_sensor_jacobian(typename, sensor_model_mapping)

_translate_sensor_covariance_impl(covariance)

_translate_sensor_covariance(typename, covariance)

formak.cpp._generate_model_function_bodies(header_location, namespace, symbolic_model, calibration_map, config)

formak.cpp._generate_ekf_function_bodies(header_location, namespace, state_model, process_noise, sensor_models, sensor_noises, calibration_map, config)

formak.cpp._compile_argparse()

formak.cpp._header_body(*, generator) → Iterable[formak.ast_tools.BaseAst]

formak.cpp.header_from_ast(*, generator) → str

formak.cpp._source_body(*, generator)

formak.cpp.source_from_ast(*, generator)

formak.cpp._compile_impl(args, *, generator)

formak.cpp.compile(symbolic_model, calibration_map=None, *, config=None)

formak.cpp.compile_ekf(state_model, process_noise, sensor_models, sensor_noises, calibration_map=None, *, config=None)