├── .devcontainer ├── Dockerfile └── devcontainer.json ├── .github └── workflows │ ├── build-test-linux.yml │ ├── cpp-linter.yml │ ├── dockerfile-test-v1.0.1.yml │ ├── dockerfile-test-v1.1.yml │ └── dockerfile-test-v1.2.yml ├── .gitignore ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── cmake ├── BioslamConfig.cmake.in └── Modules │ ├── CodeCoverage.cmake │ ├── FindMKL.cmake │ └── FindTBB.cmake ├── doc └── media │ ├── bioslam-gait.gif │ └── subj_cal_partial.gif ├── docker ├── bioslam1.0.1-gtsam4.0.3-ubu20.Dockerfile ├── bioslam1.1-gtsam4.0.3-ubu20.Dockerfile └── bioslam1.2-gtsam4.2-ubu23.Dockerfile ├── examples ├── CMakeLists.txt ├── exampleImuPoseEstimation.cpp └── exampleLowerBodyEstimation.cpp ├── include ├── VarStrToCharMap.h ├── bioutils.h ├── factors │ ├── AngleBetweenAxisAndSegmentFactor.h │ ├── AngularVelocityFactor.h │ ├── ConstrainedJointCenterPositionFactor.h │ ├── ConstrainedJointCenterVelocityFactor.h │ ├── HingeJointFactors.h │ ├── MagPose3Factor.h │ ├── Point3Priors.h │ ├── Pose3Priors.h │ ├── SegmentLengthDiscrepancyFactor.h │ └── SegmentLengthMagnitudeFactor.h ├── gtsamutils.h ├── imu │ ├── imu.h │ └── imuNoiseModelHandler.h ├── imuPoseEstimator.h ├── lowerBodyPoseEstimator.h ├── mathutils.h └── testutils.h ├── matlab ├── examples │ ├── imuPoseEstimationExample.m │ └── lowerBodyPoseEstimationExample.m ├── src │ ├── VarStrToCharMap.m │ ├── imuNoiseModelHandler.m │ ├── imuPoseEstimator.m │ └── lowerBodyPoseEstimator.m ├── test │ ├── imuPoseEstimatorUnitTest.m │ ├── testDistalImuAdjustmentPerDesiredJointAngles.m │ ├── testIpeInitialConditionBehavior.m │ └── testSimpleEkf.m └── utils │ ├── ConstantBiasArrayToNativeTypes.m │ ├── GaussianFactorGraphToFactorVector.m │ ├── H5EasyAdd.m │ ├── ImuData.m │ ├── KeyVectorToUintKeyArray.m │ ├── NonlinearFactorGraphToFactorVector.m │ ├── Point3ArrayToMatrix.m │ ├── Pose3ArrayToPoint3Array.m │ ├── Pose3ArrayToRot3Array.m │ ├── Rot3ArrayToMatrices.m │ ├── Rot3ArrayToQuaternions.m │ ├── Rot3QuaternionConstructor.m │ ├── adjustDistalImuOrientationGivenDesiredAbAdAngle.m │ ├── adjustDistalImuOrientationGivenDesiredFlexExAngle.m │ ├── adjustDistalImuOrientationGivenDesiredIntExtRotAngle.m │ ├── adjustDistalImuTrajectoryForInboundJointAngles.m │ ├── adjustImuTrajectoryByDeltaRot.m │ ├── animateLowerBodySkeletalSystem.m │ ├── animateSingleImuPose.m │ ├── clinical3DofJcsAngles.m │ ├── combineH5Files.m │ ├── computePrincipalVariance.m │ ├── consistent3DofJcsAngles.m │ ├── dcmToQuat.m │ ├── determineVarType.m │ ├── determineVarTypeFromValuesAndKey.m │ ├── drawCuboid.m │ ├── filenameAppender.m │ ├── filterValuesByKeys.m │ ├── flattenedRotationMatrixTo3x3xNMatrix.m │ ├── getAllConstantBiasFromValues.m │ ├── getAllPose3FromValues.m │ ├── getAllVectorFromValues.m │ ├── getAnthroMeasure.m │ ├── getNearestIdx.m │ ├── getValueFromKnownKeyType.m │ ├── getValueFromUnknownKeyType.m │ ├── get_R_Imu_to_Segment.m │ ├── get_R_Pelvis_to_N.m │ ├── get_R_SacrumImu_to_Pelvis.m │ ├── get_R_Segment_to_N.m │ ├── gtsamRot3YprConstructor.m │ ├── hingeAxesAccordingToMcGrath2018.m │ ├── hingeFactorErrorSurface.m │ ├── imuInternalPrecessionAboutStaticVector.m │ ├── imuToAdjacentJointCtrsTriangularGeometry.m │ ├── interiorAngleBetweenTwoVectors.m │ ├── isIndeterminantLinearSystemException.m │ ├── jacobianInspector.m │ ├── jointAngleUnwrap.m │ ├── parseFactorIntoDescriptionString.m │ ├── parseImuStatesPrincipalVariance.m │ ├── parseImuValues.m │ ├── plotClinicalHipAngles.m │ ├── plotSingleImuAccelDebug.m │ ├── printErrorsInGraphByFactorType.m │ ├── printLowerBodyProblemResultsToFilesDefault.m │ ├── printMatrixDataToCsvFile.m │ ├── printVectorOptionalVariance.m │ ├── quatToDcm.m │ ├── quat_unwrap.m │ ├── relativeYawAngle.m │ ├── reprocessCppResultsViaMatlab.m │ ├── shadedErrorBar.m │ ├── signedAngle.m │ ├── signedAngleBetweenVectorsInSamePlane.m │ ├── simpleForwardBackwardEkf.m │ ├── simpleImuOrientationForwardEkf.m │ ├── unsignedAngle.m │ ├── unwrappedYawAngle.m │ ├── varTypeToVarSize.m │ └── visualizeColoredJacobian.m ├── src ├── VarStrToCharMap.cpp ├── bioutils.cpp ├── factors │ ├── AngleBetweenAxisAndSegmentFactor.cpp │ ├── AngularVelocityFactor.cpp │ ├── ConstrainedJointCenterPositionFactor.cpp │ ├── ConstrainedJointCenterVelocityFactor.cpp │ ├── HingeJointFactors.cpp │ ├── MagPose3Factor.cpp │ ├── Point3Priors.cpp │ ├── Pose3Priors.cpp │ ├── SegmentLengthDiscrepancyFactor.cpp │ └── SegmentLengthMagnitudeFactor.cpp ├── gtsamutils.cpp ├── imu │ ├── imu.cpp │ └── imuNoiseModelHandler.cpp ├── imuPoseEstimator.cpp ├── lowerBodyPoseEstimator.cpp ├── mathutils.cpp └── testutils.cpp ├── test ├── CMakeLists.txt ├── data │ ├── 20170411-154746-Y1_TUG_6.h5 │ └── walking_sample.h5 ├── solution │ ├── testImuEstimationSolution.cpp │ └── testLowerBodyEstimationSolution.cpp └── unit │ ├── testAngleBetweenAxisAndSegmentFactor.cpp │ ├── testAngularVelocityFactor.cpp │ ├── testConstrainedJointCenterNormPositionFactor.cpp │ ├── testConstrainedJointCenterNormVelocityFactor.cpp │ ├── testConstrainedJointCenterPositionFactor.cpp │ ├── testConstrainedJointCenterVelocityFactor.cpp │ ├── testDistalImuAdjustmentPerJointAngles.cpp │ ├── testEkf.cpp │ ├── testGenericMath.cpp │ ├── testHingeJointConstraintNormErrorEstAngVel.cpp │ ├── testHingeJointConstraintVectorErrorEstAngVel.cpp │ ├── testImu.cpp │ ├── testImuNoiseModelHandler.cpp │ ├── testImuPoseEstimator.cpp │ ├── testJointAngleCalculation.cpp │ ├── testLowerBodyPoseEstimator.cpp │ ├── testMagnetometerFactors.cpp │ ├── testMaxAngleBetweenAxisAndSegmentFactor.cpp │ ├── testMaxMinSegmentLengthMagnitudeFactors.cpp │ ├── testMaxPoint3MagnitudeFactor.cpp │ ├── testMinAngleBetweenAxisAndSegmentFactor.cpp │ ├── testPoint3MagnitudeDifferenceFactor.cpp │ ├── testPose3CompassPrior.cpp │ ├── testPose3TranslationPrior.cpp │ ├── testRotateImuStateAboutPointAxisAngle.cpp │ ├── testSegmentLengthDiscrepancyFactor.cpp │ └── testSegmentLengthMagnitudeFactor.cpp └── wrap └── 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