pykinematics.imu.utility.calc_derivative

pykinematics.imu.utility.calc_derivative(x, dt, order=2)

Calculate the 2nd or 4th order derivative of a sequence.

Parameters:

x : numpy.ndarray

1 or 2D array to take the derivative of.

dt : float

Time difference for all points. This cannot handle varying time differences.

order : {4, 2}, optional

Order of the derivative to calculate. Default is 2nd order.

Returns:

dx : numpy.ndarray

Derivative of x.