Trunk Filter is a package that allows users of the ASL Trunk to filter readings from the Mocap system. Specifically, a causal median filter and kalman filter is provided.
- Kalman Filter: Implements a Kalman filter for smoothing and predicting multidimensional data.
- Median Filter: Implements a causal median filter for robust filtering of noisy data.
- Composite Filter: Combines multiple filters (e.g., Kalman and median filters) for enhanced performance.
- Trunk Filter: We provide a tuned composite filter tailored to the trunk robot @ ASL
pip install trunk-filter
from trunk_filter import TrunkFilter
f = TrunkFilter()
# provide measurement, which is a np.ndarray of shape (num_nodes, num_states_per_node), e.g. (3,3) for the ASL Trunk
filtered_measurement = f.update(measurement)