first commit

.flake8

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+[flake8]
+ignore = E203, E266, W503, E402
+max-line-length = 88
+exclude =
+    # git folder
+    .git,
+    # python cache
+    __pycache__,
+    # pytest cache
+    .pytest_cache,
+    # mypy cache
+    .mypy_cache
+    # venv folder
+    venv
+    .venv
+    # self typing
+    *.pyi

.gitignore

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+# custom
+typings/
+*.lock
+imu_zed/
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3*
+.db.sqlite3*
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.venv
+venv/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/

main.py

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+from src.tracker import Tracker
+
+
+class Runner:
+    def __init__(self):
+        T: float = 1 / 25
+        self.tracker: Tracker = Tracker(T)
+
+    def run(self):
+        while True:
+            R, pose = self.tracker.track()
+            print(R, pose)
+
+
+if __name__ == "__main__":
+    imu_plot: Runner = Runner()
+    imu_plot.run()

nav.code-workspace

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+{
+    "folders": [
+      {
+        "path": "."
+      },
+    ],
+    "settings": {
+      "python.analysis.diagnosticMode": "openFilesOnly",
+      "python.analysis.typeCheckingMode": "strict",
+      "python.linting.enabled": true,
+      "python.linting.flake8Enabled": true,
+      "python.formatting.provider": "black",
+      "python.languageServer": "Pylance",
+      "python.analysis.autoImportCompletions": true,
+      "python.analysis.extraPaths": [
+        "${workspaceFolder}"
+      ],
+      "python.analysis.indexing": true,
+      "python.analysis.diagnosticSeverityOverrides": {
+        "reportMissingTypeStubs": "information",
+      },
+    },
+    "extensions": {
+      "recommendations": []
+    }
+  }

pyproject.toml

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+[project]
+name = "IMU_EKF"
+authors = [{name = "Ignat Penshin"}]
+readme = "README.md"
+requires-python = ">=3.10"
+dynamic = ["dependencies", "version"]
+
+[tool.setuptools.dynamic]
+dependencies = {file = ["requirements.txt"]}
+version = {attr = "0.1a"}
+
+[build-system]
+requires = ["setuptools", "setuptools-scm"]
+build-backend = "setuptools.build_meta"
+
+[tool.black]
+line-length = 88
+exclude = '''
+^/(
+  (
+      \.eggs         # exclude a few common directories in the
+    | \.git          # root of the project
+    | \.hg
+    | \.mypy_cache
+    | \.tox
+    | \.venv
+    | _build
+    | buck-out
+    | build
+    | dist
+    | venv
+  )/
+  | foo.py           # also separately exclude a file named foo.py in
+                     # the root of the project
+)
+'''
+
+[tool.isort]
+profile = "black"
+multi_line_output = 3
+include_trailing_comma = true
+force_grid_wrap = 0
+line_length = 88

src/config.py

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+class Vars:
+    PATH: str = "data"
+    FILE: str = "imu.txt"