├── .github └── workflows │ └── test.yml ├── .gitignore ├── .pylintrc ├── LICENSE ├── README.md ├── notebooks ├── __init__.py ├── bearing_data.py ├── bearing_data_pe.py ├── csv_comparison_robustness.ipynb ├── csv_experiment_bearing-only-GPU-runtime.ipynb ├── experiment-poisson.ipynb ├── experiment_bearing_only_GPU_runtime.ipynb ├── experiment_bearing_only_param_estimation_run_time.ipynb ├── experiment_bearing_only_parameter_estimation.ipynb ├── experiment_bearing_only_robustness.ipynb ├── new_outputs │ ├── GPU-cubature-newtria-T5e3-100runs-mean-median-time.npz │ ├── GPU-extended-newtria-T5e3-100runs-mean-mediantime.npz │ ├── GPU-population-model-time.npz │ ├── GPU-population-model.csv │ ├── data_robustness.pkl │ ├── ell_float32_cubature_sqrt_runtime15.npz │ ├── ell_float32_cubature_std_runtime15.npz │ ├── ell_float32_extended_sqrt_runtime15.npz │ ├── ell_float32_extended_std_runtime15.npz │ ├── rts_fl32_cubature_ell.csv │ ├── rts_fl32_extended_ell.csv │ └── rtx-GPU-all-methods.csv ├── outputs │ ├── GPU-all-methods │ ├── GPU-cubature-newtria-T5e3-100runs-mean-median-time.npz │ ├── GPU-extended-newtria-T5e3-100runs-mean-mediantime.npz │ ├── GPU-population-model.csv │ ├── ell-runtime-output │ │ ├── GPU_sdR11_rmse.csv │ │ ├── GPU_sdR11_runtime.csv │ │ ├── TIME-GPU-cubature-std-par.npz │ │ ├── TIME-GPU-cubature-std-seq.npz │ │ ├── TIME-GPU-extended-std-par.npz │ │ ├── TIME-GPU-extended-std-seq.npz │ │ ├── TIME-GPU-gh-std-par.npz │ │ ├── TIME-GPU-gh-std-seq.npz │ │ ├── TIME-GPU-unscented-std-par.npz │ │ ├── TIME-GPU-unscented-std-seq.npz │ │ ├── data.pkl │ │ ├── sdR11-GPU-cubature-std-par.npz │ │ ├── sdR11-GPU-cubature-std-seq.npz │ │ ├── sdR11-GPU-extended-std-par.npz │ │ ├── sdR11-GPU-extended-std-seq.npz │ │ ├── sdR11-GPU-gh-std-par.npz │ │ ├── sdR11-GPU-gh-std-seq.npz │ │ ├── sdR11-GPU-unscented-std-par.npz │ │ ├── sdR11-GPU-unscented-std-seq.npz │ │ └── ys.npz │ ├── fl32_cubature_ell.csv │ ├── fl32_extended_ell.csv │ ├── pe_ell_sqrt_extended_T50_par.npz │ ├── pe_ell_std_extended_T50_par.npz │ └── pe_extended_ell_par.csv ├── population_model.py ├── robustness_100runs.py └── robustness_data │ ├── R1_rts_fl32_cubature_ell.csv │ ├── R1_rts_fl32_extended_ell.csv │ ├── data-T8000-Run1.npz │ ├── data-T8000-Run10.npz │ ├── data-T8000-Run100.npz │ ├── data-T8000-Run11.npz │ ├── data-T8000-Run12.npz │ ├── data-T8000-Run13.npz │ ├── data-T8000-Run14.npz │ ├── data-T8000-Run15.npz │ ├── data-T8000-Run16.npz │ ├── data-T8000-Run17.npz │ ├── data-T8000-Run18.npz │ ├── data-T8000-Run19.npz │ ├── data-T8000-Run2.npz │ ├── data-T8000-Run20.npz │ ├── data-T8000-Run21.npz │ ├── data-T8000-Run22.npz │ ├── data-T8000-Run23.npz │ ├── data-T8000-Run24.npz │ ├── data-T8000-Run25.npz │ ├── data-T8000-Run26.npz │ ├── data-T8000-Run27.npz │ ├── data-T8000-Run28.npz │ ├── data-T8000-Run29.npz │ ├── data-T8000-Run3.npz │ ├── data-T8000-Run30.npz │ ├── data-T8000-Run31.npz │ ├── data-T8000-Run32.npz │ ├── data-T8000-Run33.npz │ ├── data-T8000-Run34.npz │ ├── data-T8000-Run35.npz │ ├── data-T8000-Run36.npz │ ├── data-T8000-Run37.npz │ ├── data-T8000-Run38.npz │ ├── data-T8000-Run39.npz │ ├── data-T8000-Run4.npz │ ├── data-T8000-Run40.npz │ ├── data-T8000-Run41.npz │ ├── data-T8000-Run42.npz │ ├── data-T8000-Run43.npz │ ├── data-T8000-Run44.npz │ ├── data-T8000-Run45.npz │ ├── data-T8000-Run46.npz │ ├── data-T8000-Run47.npz │ ├── data-T8000-Run48.npz │ ├── data-T8000-Run49.npz │ ├── data-T8000-Run5.npz │ ├── data-T8000-Run50.npz │ ├── data-T8000-Run51.npz │ ├── data-T8000-Run52.npz │ ├── data-T8000-Run53.npz │ ├── data-T8000-Run54.npz │ ├── data-T8000-Run55.npz │ ├── data-T8000-Run56.npz │ ├── data-T8000-Run57.npz │ ├── data-T8000-Run58.npz │ ├── data-T8000-Run59.npz │ ├── data-T8000-Run6.npz │ ├── data-T8000-Run60.npz │ ├── data-T8000-Run61.npz │ ├── data-T8000-Run62.npz │ ├── data-T8000-Run63.npz │ ├── data-T8000-Run64.npz │ ├── data-T8000-Run65.npz │ ├── data-T8000-Run66.npz │ ├── data-T8000-Run67.npz │ ├── data-T8000-Run68.npz │ ├── data-T8000-Run69.npz │ ├── data-T8000-Run7.npz │ ├── data-T8000-Run70.npz │ ├── data-T8000-Run71.npz │ ├── data-T8000-Run72.npz │ ├── data-T8000-Run73.npz │ ├── data-T8000-Run74.npz │ ├── data-T8000-Run75.npz │ ├── data-T8000-Run76.npz │ ├── data-T8000-Run77.npz │ ├── data-T8000-Run78.npz │ ├── data-T8000-Run79.npz │ ├── data-T8000-Run8.npz │ ├── data-T8000-Run80.npz │ ├── data-T8000-Run81.npz │ ├── data-T8000-Run82.npz │ ├── data-T8000-Run83.npz │ ├── data-T8000-Run84.npz │ ├── data-T8000-Run85.npz │ ├── data-T8000-Run86.npz │ ├── data-T8000-Run87.npz │ ├── data-T8000-Run88.npz │ ├── data-T8000-Run89.npz │ ├── data-T8000-Run9.npz │ ├── data-T8000-Run90.npz │ ├── data-T8000-Run91.npz │ ├── data-T8000-Run92.npz │ ├── data-T8000-Run93.npz │ ├── data-T8000-Run94.npz │ ├── data-T8000-Run95.npz │ ├── data-T8000-Run96.npz │ ├── data-T8000-Run97.npz │ ├── data-T8000-Run98.npz │ ├── data-T8000-Run99.npz │ ├── ell_float32_cubature_sqrt_100runs.npz │ ├── ell_float32_cubature_std_100runs.npz │ ├── ell_float32_extended_sqrt_100runs.npz │ └── ell_float32_extended_std_100runs.npz ├── parsmooth ├── __init__.py ├── _base.py ├── _pathwise_sampler.py ├── _utils.py ├── linearization │ ├── __init__.py │ ├── _common.py │ ├── _cubature.py │ ├── _extended.py │ ├── _gh.py │ ├── _sigma_points.py │ └── _unscented.py ├── methods.py ├── parallel │ ├── __init__.py │ ├── _filtering.py │ ├── _operators.py │ └── _smoothing.py └── sequential │ ├── __init__.py │ ├── _filtering.py │ └── _smoothing.py ├── requirements-examples.txt ├── requirements-test.txt ├── requirements.txt ├── setup.py └── tests ├── __init__.py ├── _lgssm.py ├── _test_utils.py ├── bearings ├── __init__.py ├── bearings_utils.py ├── icks.npz ├── ieks.npz └── ys.npy ├── test_bearings_only.py ├── test_iterated_smoother.py ├── test_linearization.py ├── test_math_utils.py ├── test_parallel_filter.py ├── test_parallel_operators.py ├── test_parallel_smoother.py ├── test_sampler.py ├── test_sequential_filter.py └── 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