├── .github └── workflows │ ├── publish.yml │ └── test-and-lint.yml ├── .gitignore ├── .readthedocs.yaml ├── .ruff.toml ├── CHANGELOG.md ├── LICENSE ├── README.md ├── _tasks.py ├── docs ├── .gitignore ├── Makefile ├── __init__.py ├── _static │ └── logo │ │ ├── gaitmap.ico │ │ ├── gaitmap_logo.png │ │ ├── gaitmap_logo.svg │ │ ├── gaitmap_logo_with_text.png │ │ └── gaitmap_logo_with_text.svg ├── conf.py ├── image_src │ └── create_coordinate_definition_template_plots.py ├── images │ ├── event_detection.svg │ ├── gaitmap_ecosystem.svg │ ├── gaitmap_foot_frame.svg │ └── signal_templates_coordinate_system_definitions.svg ├── index.rst ├── logos │ ├── README.md │ ├── create_all_logos.sh │ └── gaitmap_logo_source.svg ├── make.bat ├── modules │ ├── base_classes.rst │ ├── data_transform.rst │ ├── evaluation_utils.rst │ ├── event_detection.rst │ ├── example_data.rst │ ├── gait_detection.rst │ ├── index.rst │ ├── parameters.rst │ ├── preprocessing.rst │ ├── stride_segmentation.rst │ ├── trajectory_reconstruction.rst │ ├── utils │ │ ├── array_handling.rst │ │ ├── const.rst │ │ ├── coordinate_conversion.rst │ │ ├── datatype_helper.rst │ │ ├── exceptions.rst │ │ ├── index.rst │ │ ├── rotations.rst │ │ ├── signal_processing.rst │ │ ├── static_moment_detection.rst │ │ ├── stride_list_conversion.rst │ │ └── vector_math.rst │ └── zupt_detection.rst ├── source │ ├── development │ │ ├── caching_guide.rst │ │ ├── development_guide.md │ │ ├── index.rst │ │ └── project_structure.md │ └── user_guide │ │ ├── contributing.rst │ │ ├── coordinate_systems.rst │ │ ├── create_own_algorithm.rst │ │ ├── datatypes.rst │ │ ├── gaitmap_ecosystem.rst │ │ ├── gaitmap_mad.rst │ │ ├── index.rst │ │ └── prepare_data.rst ├── sphinxext │ ├── __init__.py │ └── githublink.py └── templates │ ├── class.rst │ ├── class_with_private.rst │ ├── function.rst │ └── numpydoc_docstring.rst ├── example_data ├── __init__.py ├── aligned_data_with_mag_l_walks.csv ├── extract_example_data.py ├── imu_sample.csv ├── imu_sample_healthy_stair_down.csv ├── imu_sample_healthy_stair_up.csv ├── imu_sample_ic_stride.csv ├── imu_sample_ms_left.csv ├── imu_sample_ms_right.csv ├── imu_sample_not_rotated.csv ├── mocap_sample.csv ├── orientation_sample.csv ├── position_sample.csv ├── stride_borders_sample.csv ├── stride_borders_sample_ic_stride.csv └── stride_events_sample.csv ├── examples ├── README.rst ├── __init__.py ├── advanced_features │ ├── README.rst │ ├── __init__.py │ ├── algo_serialize.py │ ├── caching.py │ └── multi_process.py ├── datasets_and_pipelines │ ├── README.rst │ ├── __init__.py │ ├── cross_validation.py │ ├── custom_dataset.py │ ├── gridsearch.py │ ├── gridsearch_cv.py │ └── optimizable_pipelines.py ├── event_detection │ ├── README.rst │ ├── __init__.py │ ├── herzer_event_detection.py │ └── rampp_event_detection.py ├── full_pipelines │ ├── README.rst │ ├── __init__.py │ └── mad_gait_pipeline.py ├── gait_detection │ ├── README.rst │ ├── __init__.py │ └── ullrich_gait_sequence_detection.py ├── generic_algorithms │ ├── README.rst │ ├── __init__.py │ └── base_dtw_generic.py ├── parameters │ ├── README.rst │ ├── __init__.py │ ├── spatial_parameters.py │ └── temporal_parameters.py ├── preprocessing │ ├── README.rst │ ├── __init__.py │ ├── automatic_sensor_alignment_compact.py │ ├── automatic_sensor_alignment_details.py │ └── manual_sensor_alignment.py ├── stride_segmentation │ ├── README.rst │ ├── __init__.py │ ├── barth_dtw_custom_template.py │ ├── barth_dtw_stride_segmentation.py │ ├── barth_dtw_stride_segmentation_roi.py │ ├── constrained_barth_dtw_stride_segmentation.py │ ├── roth_hmm_stride_segmentation.py │ └── segmentation_hmm_training.py └── trajectory_reconstruction │ ├── README.rst │ ├── __init__.py │ ├── advanced_kalman_filter_usage.py │ ├── trajectory_reconstruction.py │ ├── trajectory_reconstruction_region.py │ ├── with_magnetometer.py │ └── zupt_dependency.py ├── gaitmap ├── __init__.py ├── _event_detection_common │ ├── __init__.py │ └── _event_detection_mixin.py ├── base.py ├── data_transform │ ├── __init__.py │ ├── _base.py │ ├── _feature_transform.py │ ├── _filter.py │ └── _scaler.py ├── evaluation_utils │ ├── __init__.py │ ├── event_detection.py │ ├── parameter_errors.py │ ├── scores.py │ └── stride_segmentation.py ├── event_detection │ ├── __init__.py │ └── _herzer_event_detection.py ├── example_data.py ├── gait_detection │ └── __init__.py ├── parameters │ ├── __init__.py │ ├── _spatial_parameters.py │ └── _temporal_parameters.py ├── preprocessing │ ├── __init__.py │ └── sensor_alignment │ │ ├── __init__.py │ │ ├── _gravity_alignment.py │ │ ├── _mulisensor_alignment.py │ │ └── _pca_alignment.py ├── stride_segmentation │ ├── __init__.py │ ├── _roi_stride_segmentation.py │ ├── _utils.py │ └── hmm.py ├── trajectory_reconstruction │ ├── __init__.py │ ├── _region_level_trajectory.py │ ├── _stride_level_trajectory.py │ ├── _trajectory_wrapper.py │ ├── orientation_methods │ │ ├── __init__.py │ │ ├── _madgwick.py │ │ └── _simple_gyro_integration.py │ ├── position_methods │ │ ├── __init__.py │ │ └── _forward_backwards_integration.py │ └── trajectory_methods │ │ ├── __init__.py │ │ ├── _kalman_numba_funcs.py │ │ └── _rts_kalman.py ├── utils │ ├── __init__.py │ ├── _algo_helper.py │ ├── _datatype_validation_helper.py │ ├── _gaitmap_mad.py │ ├── _types.py │ ├── array_handling.py │ ├── consts.py │ ├── coordinate_conversion.py │ ├── datatype_helper.py │ ├── exceptions.py │ ├── fast_quaternion_math.py │ ├── rotations.py │ ├── signal_processing.py │ ├── static_moment_detection.py │ ├── stride_list_conversion.py │ └── vector_math.py └── zupt_detection │ ├── __init__.py │ ├── _base.py │ ├── _combo_zupt_detector.py │ ├── _moving_window_zupt_detector.py │ └── _stride_event_zupt_detector.py ├── gaitmap_mad ├── LICENSE ├── README.md ├── gaitmap_mad │ ├── __init__.py │ ├── event_detection │ │ ├── __init__.py │ │ ├── _filtered_rampp_event_detection.py │ │ └── _rampp_event_detection.py │ ├── gait_detection │ │ ├── __init__.py │ │ └── _ullrich_gait_sequence_detection.py │ ├── preprocessing │ │ ├── __init__.py │ │ └── sensor_alignment │ │ │ ├── __init__.py │ │ │ └── _forward_direction_alignment.py │ ├── stride_segmentation │ │ ├── __init__.py │ │ ├── dtw │ │ │ ├── __init__.py │ │ │ ├── _barth_dtw.py │ │ │ ├── _base_dtw.py │ │ │ ├── _constrained_barth_dtw.py │ │ │ ├── _dtw_templates │ │ │ │ ├── __init__.py │ │ │ │ ├── barth_original_template.csv │ │ │ │ └── templates.py │ │ │ └── _vendored_tslearn.py │ │ └── hmm │ │ │ ├── __init__.py │ │ │ ├── _hmm_feature_transform.py │ │ │ ├── _hmm_stride_segmentation.py │ │ │ ├── _pre_trained_models │ │ │ ├── __init__.py │ │ │ └── fallriskpd_at_lab_model.json │ │ │ ├── _segmentation_model.py │ │ │ ├── _simple_model.py │ │ │ └── _utils.py │ └── trajectory_reconstruction │ │ ├── __init__.py │ │ └── position_methods │ │ ├── __init__.py │ │ └── _piece_wise_linear_dedrifted_integration.py └── pyproject.toml ├── poetry.lock ├── pyproject.toml ├── pytest.ini └── tests ├── __init__.py ├── _test_gaitmap_mad_split.py ├── conftest.py ├── mixins ├── __init__.py ├── test_algorithm_mixin.py └── test_caching_mixin.py ├── test_base.py ├── test_data_transforms ├── __init__.py ├── test_base.py ├── test_feature_transformer.py ├── test_filter.py └── test_scalers.py ├── test_evaluation_utlis ├── __init__.py ├── test_event_detection.py ├── test_parameter_errors.py ├── test_scores.py └── test_stride_segmentation.py ├── test_event_detection ├── __init__.py ├── snapshot │ ├── TestEventDetectionHerzer.test_multi_sensor_input_left.json │ ├── TestEventDetectionHerzer.test_multi_sensor_input_left_segmented.json │ ├── TestEventDetectionHerzer.test_multi_sensor_input_right.json │ ├── TestEventDetectionHerzer.test_multi_sensor_input_right_segmented.json │ ├── TestEventDetectionRampp.test_multi_sensor_input[ic-healthy_example_imu_data_ic_stride-healthy_example_stride_borders_ic_stride-102.4]_left.json │ ├── TestEventDetectionRampp.test_multi_sensor_input[ic-healthy_example_imu_data_ic_stride-healthy_example_stride_borders_ic_stride-102.4]_left_segmented.json │ ├── TestEventDetectionRampp.test_multi_sensor_input[ic-healthy_example_imu_data_ic_stride-healthy_example_stride_borders_ic_stride-102.4]_right.json │ ├── TestEventDetectionRampp.test_multi_sensor_input[ic-healthy_example_imu_data_ic_stride-healthy_example_stride_borders_ic_stride-102.4]_right_segmented.json │ ├── TestEventDetectionRampp.test_multi_sensor_input[segmented-healthy_example_imu_data-healthy_example_stride_borders-204.8]_left.json │ ├── TestEventDetectionRampp.test_multi_sensor_input[segmented-healthy_example_imu_data-healthy_example_stride_borders-204.8]_left_segmented.json │ ├── TestEventDetectionRampp.test_multi_sensor_input[segmented-healthy_example_imu_data-healthy_example_stride_borders-204.8]_right.json │ ├── TestEventDetectionRampp.test_multi_sensor_input[segmented-healthy_example_imu_data-healthy_example_stride_borders-204.8]_right_segmented.json │ ├── TestEventDetectionRamppFiltered.test_multi_sensor_input[ic-healthy_example_imu_data_ic_stride-healthy_example_stride_borders_ic_stride-102.4]_left.json │ ├── TestEventDetectionRamppFiltered.test_multi_sensor_input[ic-healthy_example_imu_data_ic_stride-healthy_example_stride_borders_ic_stride-102.4]_left_segmented.json │ ├── TestEventDetectionRamppFiltered.test_multi_sensor_input[ic-healthy_example_imu_data_ic_stride-healthy_example_stride_borders_ic_stride-102.4]_right.json │ ├── TestEventDetectionRamppFiltered.test_multi_sensor_input[ic-healthy_example_imu_data_ic_stride-healthy_example_stride_borders_ic_stride-102.4]_right_segmented.json │ ├── TestEventDetectionRamppFiltered.test_multi_sensor_input[segmented-healthy_example_imu_data-healthy_example_stride_borders-204.8]_left.json │ ├── TestEventDetectionRamppFiltered.test_multi_sensor_input[segmented-healthy_example_imu_data-healthy_example_stride_borders-204.8]_left_segmented.json │ ├── TestEventDetectionRamppFiltered.test_multi_sensor_input[segmented-healthy_example_imu_data-healthy_example_stride_borders-204.8]_right.json │ └── TestEventDetectionRamppFiltered.test_multi_sensor_input[segmented-healthy_example_imu_data-healthy_example_stride_borders-204.8]_right_segmented.json ├── test_event_detection_filtered_rampp.py ├── test_event_detection_herzer.py └── test_event_detection_rampp.py ├── test_examples ├── __init__.py ├── snapshot │ ├── test_advanced_kalman_combo_zupt.json │ ├── test_advanced_kalman_madgwick_rts_no_zupt.json │ ├── test_barth_dtw_custom_template_0.json │ ├── test_barth_dtw_custom_template_1.csv │ ├── test_barth_dtw_example_0.csv │ ├── test_base_dtw_generic_0.csv │ ├── test_constrained_barth_dtw_example_cdtw.csv │ ├── test_constrained_barth_dtw_example_default_cdtw.csv │ ├── test_constrained_barth_dtw_example_dtw.csv │ ├── test_cross_validation_0.json │ ├── test_grid_search_0.json │ ├── test_grid_search_1.json │ ├── test_gridsearch_cv_0.json │ ├── test_herzer_event_detection_0.json │ ├── test_herzer_event_detection_1.json │ ├── test_json_example_0.txt │ ├── test_mad_pipeline_spatial_paras_left.json │ ├── test_mad_pipeline_spatial_paras_right.json │ ├── test_mad_pipeline_strides_left.json │ ├── test_mad_pipeline_strides_right.json │ ├── test_mad_pipeline_temporal_paras_left.json │ ├── test_mad_pipeline_temporal_paras_right.json │ ├── test_optimizable_pipelines_0.json │ ├── test_optimizable_pipelines_1.json │ ├── test_optimizable_pipelines_2.json │ ├── test_preprocessing_example_0.csv │ ├── test_rampp_event_detection_left.json │ ├── test_rampp_event_detection_right.json │ ├── test_region_trajectory_reconstruction_0.json │ ├── test_region_trajectory_reconstruction_1.json │ ├── test_region_trajectory_reconstruction_2.json │ ├── test_region_trajectory_reconstruction_3.json │ ├── test_roi_0.json │ ├── test_roth_hmm_stride_segmentation_left_sensor.json │ ├── test_roth_hmm_stride_segmentation_right_sensor.json │ ├── test_segmentation_hmm_training_0.txt │ ├── test_segmentation_hmm_training_left_sensor.json │ ├── test_segmentation_hmm_training_right_sensor.json │ ├── test_sensor_alignment_compact_left_sensor.json │ ├── test_sensor_alignment_compact_right_sensor.json │ ├── test_sensor_alignment_detailed_example_left_sensor_forward.json │ ├── test_sensor_alignment_detailed_example_left_sensor_gravity.json │ ├── test_sensor_alignment_detailed_example_left_sensor_pca.json │ ├── test_sensor_alignment_detailed_example_right_sensor_forward.json │ ├── test_sensor_alignment_detailed_example_right_sensor_gravity.json │ ├── test_sensor_alignment_detailed_example_right_sensor_pca.json │ ├── test_spatial_parameters_0.json │ ├── test_temporal_parameters_0.json │ ├── test_trajectory_reconstruction_0.json │ ├── test_trajectory_reconstruction_1.json │ └── test_ullrich_gait_sequence_detection_0.json └── test_all_examples.py ├── test_gait_detection ├── __init__.py ├── snapshot │ ├── TestUllrichGaitSequenceDetection.test_different_activities_different_configs[acc-13-False]_0.json │ ├── TestUllrichGaitSequenceDetection.test_different_activities_different_configs[acc-13-True]_0.json │ ├── TestUllrichGaitSequenceDetection.test_different_activities_different_configs[acc_si-8-False]_0.json │ ├── TestUllrichGaitSequenceDetection.test_different_activities_different_configs[acc_si-8-True]_0.json │ ├── TestUllrichGaitSequenceDetection.test_different_activities_different_configs[gyr-11-False]_0.json │ ├── TestUllrichGaitSequenceDetection.test_different_activities_different_configs[gyr-11-True]_0.json │ ├── TestUllrichGaitSequenceDetection.test_different_activities_different_configs[gyr_ml-17-False]_0.json │ └── TestUllrichGaitSequenceDetection.test_different_activities_different_configs[gyr_ml-17-True]_0.json └── test_ullrich_gait_sequence_detection.py ├── test_parameters ├── __init__.py ├── snapshot │ ├── TestSpatialParameterRegression.test_regression_on_example_data_0.json │ └── TestTemporalParameterRegression.test_regression_on_example_data_0.json ├── test_spatial_parameters.py └── test_temporal_parameter.py ├── test_preprocessing ├── __init__.py ├── snapshot │ ├── TestPcaAlignment.test_correct_rotation_regression[x-rot0]_0.json │ └── TestPcaAlignment.test_correct_rotation_regression[y-rot1]_0.json ├── test_forward_direction_alignment.py ├── test_pca_alignment.py └── test_sensor_alignment.py ├── test_stride_segmentation ├── __init__.py ├── snapshot │ ├── TestRegressionOnRealData.test_real_data_both_feed_regression_left.json │ ├── TestRegressionOnRealData.test_real_data_both_feed_regression_right.json │ ├── TestRegressionOnRealDataConstrainedDtw.test_real_data_both_feed_regression_left.json │ └── TestRegressionOnRealDataConstrainedDtw.test_real_data_both_feed_regression_right.json ├── test_barth_dtw.py ├── test_base_dtw.py ├── test_constrained_barth_dtw.py ├── test_dtw_templates.py ├── test_roi_stride_segmentation.py └── test_roth_hmm.py ├── test_trajectory_reconstruction ├── __init__.py ├── snapshot │ ├── TestIODataStructures.test_multi_sensor_output[RegionLevelTrajectory]_ori_left_sensor.json │ ├── TestIODataStructures.test_multi_sensor_output[RegionLevelTrajectory]_ori_right_sensor.json │ ├── TestIODataStructures.test_multi_sensor_output[RegionLevelTrajectory]_pos_left_sensor.json │ ├── TestIODataStructures.test_multi_sensor_output[RegionLevelTrajectory]_pos_right_sensor.json │ ├── TestIODataStructures.test_multi_sensor_output[StrideLevelTrajectory]_ori_left_sensor.json │ ├── TestIODataStructures.test_multi_sensor_output[StrideLevelTrajectory]_ori_right_sensor.json │ ├── TestIODataStructures.test_multi_sensor_output[StrideLevelTrajectory]_pos_left_sensor.json │ ├── TestIODataStructures.test_multi_sensor_output[StrideLevelTrajectory]_pos_right_sensor.json │ ├── TestIODataStructures.test_single_sensor_output[RegionLevelTrajectory]_ori.json │ ├── TestIODataStructures.test_single_sensor_output[RegionLevelTrajectory]_pos.json │ ├── TestIODataStructures.test_single_sensor_output[StrideLevelTrajectory]_ori.json │ └── TestIODataStructures.test_single_sensor_output[StrideLevelTrajectory]_pos.json ├── test_orientation_methods │ ├── __init__.py │ ├── snapshot │ │ ├── TestSimpleRotations.test_single_stride_regression_MadgwickAHRS.json │ │ ├── TestSimpleRotations.test_single_stride_regression_MadgwickAHRS_rotated_data.json │ │ ├── TestSimpleRotations.test_single_stride_regression_SimpleGyroIntegration.json │ │ └── TestSimpleRotations.test_single_stride_regression_SimpleGyroIntegration_rotated_data.json │ ├── test_madgwick.py │ ├── test_ori_method_mixin.py │ └── test_simple_gyro_integration.py ├── test_postition_methods │ ├── __init__.py │ ├── snapshot │ │ ├── TestSimpleIntegrationsNoGravity.test_single_stride_regression_ForwardBackwardIntegration.json │ │ └── TestSimpleIntegrationsNoGravity.test_single_stride_regression_PieceWiseLinearDedriftedIntegration.json │ ├── test_forward_backwards_integration.py │ ├── test_piece_wise_linear_dedrifted_integration.py │ └── test_pos_method_mixin.py ├── test_region_level_trajectory.py ├── test_stride_level_trajectory.py ├── test_trajectory_methods │ ├── __init__.py │ ├── snapshot │ │ ├── TestMadgwickKalman.test_full_trajectory_regression_MadgwickRtsKalman.json │ │ ├── TestMadgwickKalmanDummy.test_full_trajectory_regression_MadgwickRtsKalman.json │ │ └── TestTrajectoryMethod.test_full_trajectory_regression_RtsKalman.json │ ├── test_rts_kalman.py │ └── test_trajectory_method_mixin.py └── test_trajectory_wrapper.py ├── test_utils ├── __init__.py ├── test_array_handling.py ├── test_coordinate_conversion.py ├── test_datatype_helper.py ├── test_fast_quaternion_math.py ├── test_rotations.py ├── 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