From f5f30953ca3a0f2f575a4dfe17d161c82da50cb8 Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@arcor.de>
Date: Sun, 17 Dec 2023 23:33:31 +0100
Subject: [PATCH] Updated setup class and kalman filter class

---
 setup.py                 |  6 +++---
 spatz/models/kalman.py   | 15 ++++++++++++---
 spatz/sensors/gps/gps.py |  4 +++-
 3 files changed, 18 insertions(+), 7 deletions(-)

diff --git a/setup.py b/setup.py
index 7820f74..e62a821 100644
--- a/setup.py
+++ b/setup.py
@@ -8,7 +8,7 @@ with open('README.md', 'r') as f:
 setup(
     name='spatz',
     version='0.0.10',
-    package_dir={'': 'spatz'},
-    packages=find_packages(where='spatz'),
-    long_description=longdescription
+    packages=find_packages(exclude=["_tests"]),
+    long_description=longdescription,
+    long_description_content_type='text/markdown',
 )
\ No newline at end of file
diff --git a/spatz/models/kalman.py b/spatz/models/kalman.py
index cbf8984..f109250 100644
--- a/spatz/models/kalman.py
+++ b/spatz/models/kalman.py
@@ -1,10 +1,19 @@
+from typing import Any
+
+
+def A(dt: float):
+    return [[dt, 0], [0, 1]]
+
 
 
 class KalmanFilter:
-    def __init__(self) -> None:
-        pass
+    def __init__(self, A, B) -> None:
+        self.__A = A
+        self.__B = B
+
+    def predict(self, dt: float) -> None:
+        self.__A(dt)
 
-    def predict(self) -> None:
         pass
 
     def correct(self) -> None:
diff --git a/spatz/sensors/gps/gps.py b/spatz/sensors/gps/gps.py
index 37b8c0b..07160d0 100644
--- a/spatz/sensors/gps/gps.py
+++ b/spatz/sensors/gps/gps.py
@@ -2,9 +2,11 @@ from typing import Any, List
 from numpy.linalg import norm
 
 from numpy.typing import ArrayLike
+from pandas import NA
+
 from spatz.dataset import ArrayLike, Dataset
 from spatz.logger import ArrayLike, Logger
-from spatz.sensors import Sensor, NA
+from spatz.sensors import Sensor
 from spatz.transforms import Transform
 
 # WG84 googlen (world model GPS)