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Replaced deprecated matplotlib function #25

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Replaced deprecated matplotlib function #25

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13 changes: 11 additions & 2 deletions Extended-Kalman-Filter-CTRV.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
from sympy import Symbol, symbols, Matrix, sin, cos
from sympy import init_printing
init_printing(use_latex=True)
from datetime import datetime


# # Extended Kalman Filter Implementation for Constant Turn Rate and Velocity (CTRV) Vehicle Model in Python
Expand Down Expand Up @@ -178,9 +179,17 @@
#path = './../RaspberryPi-CarPC/TinkerDataLogger/DataLogs/2014/'
datafile = '2014-03-26-000-Data.csv'

def bytespdate2num(fmt):
def converter(b):
return mdates.date2num(datetime.strptime(b.decode('utf-8'), fmt))
return converter

date_converter = bytespdate2num('%y%m%d')
time_converter = bytespdate2num('%H%M%S%f')

date, time, millis, ax, ay, az, rollrate, pitchrate, yawrate, roll, pitch, yaw, speed, course, latitude, longitude, altitude, pdop, hdop, vdop, epe, fix, satellites_view, satellites_used, temp = np.loadtxt(datafile, delimiter=',', unpack=True,
converters={1: mdates.strpdate2num('%H%M%S%f'),
0: mdates.strpdate2num('%y%m%d')},
converters={1: time_converter,
0: date_converter},
skiprows=1)

print('Read \'%s\' successfully.' % datafile)
Expand Down