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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[0.3.1] - 2021-09-29

Added

  • Error raise if geomagnetic field is invalid in class EKF.
  • New method Omega in class AQUA to simplify the product between angular rate and quaternion.
  • New method rotate_by in class QuaternionArray.
  • More Acronyms in page Nomeclature of documentation.
  • Individual pages for each method and attribute of classes Quaternion and DCM into documentation.
  • Merge pull request of basic automation tests.

Changed

  • Fix undefined matrix R in method update of class EKF.
  • Fix shape of converted points in function ned2enu.
  • Fix parameters in function rec2geo of submodule frames.
  • Fix method from_quaternion of class DCM.
  • Fix Munich height (in km) in global constants.
  • Improve detection of empty arrays when building TRIAD object.
  • Improve description of estimator AQUA in its docstring.
  • Improve imports in submodules frames and dcm.
  • Improve style and descriptions in docstrings of functions in submodule orientation.
  • Method init_q is now synonym of the more convenient method estimate in class AQUA.
  • Parameter as_quaternion in method estimate of class TRIAD renamed to representation, and its value is now of type str.
  • Versioning is defined using f-strings.

Removed

  • Redundant normalization of magnetic measurement vector in class FQA.

[0.3.0] - 2021-02-03

Added

  • World Magnetic Model as class WMM.
  • World Geodetic System as class WGS.
  • Geodetic and planetary constants.
  • New class DCM to represent Direction Cosine Matrices.
  • Attitude Estimator EKF.
  • Attitude Estimator TRIAD.
  • Attitude Estimator Davenport.
  • Attitude Estimator QUEST.
  • Attitude Estimator SAAM.
  • Attitude Estimator OLEQ.
  • Attitude Estimator ROLEQ.
  • Implementation of modes newton, eig and symbolic in estimator FLAE.
  • New function ecompass to estimate Orientation from an observation of an accelerometer and a magnetometer.
  • New method row_reduction in estimator FLAE.
  • New methods to_angles, is_pure, is_real, is_versor, and is_identity in class QuaternionArray.
  • New properties logarithm and log in class Quaternion.
  • New parameter versor defaulting to True in class Quaternion to initialize quaternions as versors.
  • New frame transformations ned2enu, enu2ned, ecef2enu, enu2ecef, ll2ecef, and ecef2llf.
  • Requirements file.
  • Manifest file.
  • Documentation with Sphinx.
  • Type hints.

Changed

  • Fix AQUA.
  • Fix missing imports in several submodules.
  • Fix versioning that prevented install from a fresh setup.
  • Tilt can perform vectorized estimations over 2D arrays.
  • QuaternionArray is now subclassed from a numpy.array.
  • Simplify implementation of class Complementary.
  • Create copies of quaternions and normalize them when given in metrics functions.
  • Complete attitude estimator FAMC.
  • Complete docstrings of all functions, methods and classes.
  • Improve examples and information in README.

Removed

  • Submodules plot and io to remove dependencies on scipy and matplotlib.

[0.2.2-dev1] - 2020-02-06

Added

  • Support for other characters as separators in function load of submodule io.
  • Function am2euler to obtain Euler angles from gravity and geomagnetic measurements.
  • Notice of discontinuation of io and plotting submodules.
  • Add badge of code quality.

Changed

  • Using isinstance(x, y) instead of type(x)==y to confirm types of variables.
  • Update setup information.

[0.2.2] - 2020-01-06

Added

  • This changelog.
  • Script triad.py for future submodule implementation of TRIAD method.

Changed

  • Action Build Python Package builds only when new commit is pushed to master branch.
  • Simplify building triads in function triad of submodule orientation.
  • Fix documentation of am2angles and quest of submodule orientation.

[0.2.1] - 2020-12-28

Added

  • Class QuaternionArray to handle several quaternions at once.
  • Add methods log(), exp(), inv(), to_array() and to_list() to class Quaternion.

[0.2.0] - 2019-12-27

Added

  • Class Quaternion to handle quaternion operations.
  • Add methods log(), exp(), inv(), to_array() and to_list() to class Quaternion.
  • More definitions of colors with formats ints and floats.
  • Functions hex_to_int() and hex_to_float() convert any color defined as hex into int and float.
  • Badges in README to indicate basic information.

Changed

  • Improve versioning.

Removed

  • Function R2q() to get quaternion from rotation matrix. Method from_DCM() of class Quaternion is preferred.