nrl-tracker 0.13.2__py3-none-any.whl → 0.21.4__py3-none-any.whl

{nrl_tracker-0.13.2.dist-info → nrl_tracker-0.21.4.dist-info}/METADATA

@@ -1,12 +1,13 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 0.13.2
+Version: 0.21.4
 Summary: Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms
 Author: Original: David F. Crouse, Naval Research Laboratory
 Maintainer: Python Port Contributors
-Project-URL: Homepage, https://github.com/nedonatelli/TCL
+Project-URL: Homepage, https://pytcl.readthedocs.io/en
+Project-URL: Documentation, https://pytcl.readthedocs.io/en/latest/docs.html
+Project-URL: Repository, https://github.com/nedonatelli/TCL
 Project-URL: Bug Tracker, https://github.com/nedonatelli/TCL/issues
-Project-URL: Documentation, https://github.com/nedonatelli/TCL#readme
 Project-URL: Original MATLAB Library, https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary
 Keywords: tracking,kalman-filter,target-tracking,data-association,estimation,navigation,coordinate-systems,signal-processing
 Classifier: Development Status :: 3 - Alpha
@@ -59,12 +60,16 @@ Requires-Dist: plotly>=5.15.0; extra == "visualization"
 
 # Tracker Component Library (Python)
 
+[![PyPI version](https://img.shields.io/badge/pypi-v0.21.4-blue.svg)](https://pypi.org/project/nrl-tracker/)
 [![Python 3.10+](https://img.shields.io/badge/python-3.10+-blue.svg)](https://www.python.org/downloads/)
 [![License: Public Domain](https://img.shields.io/badge/License-Public%20Domain-brightgreen.svg)](https://en.wikipedia.org/wiki/Public_domain)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![Tests](https://img.shields.io/badge/tests-1530%20passing-success.svg)](https://github.com/nedonatelli/TCL)
 
 A Python port of the [U.S. Naval Research Laboratory's Tracker Component Library](https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary), a comprehensive collection of algorithms for target tracking, estimation, coordinate systems, and related mathematical functions.
 
+**800+ functions** | **144 modules** | **1,530 tests** | **15+ algorithm categories**
+
 ## Overview
 
 The Tracker Component Library provides building blocks for developing target tracking algorithms, including:

{nrl_tracker-0.13.2.dist-info → nrl_tracker-0.21.4.dist-info}/RECORD

@@ -1,10 +1,13 @@
-pytcl/__init__.py,sha256=A0iqbLxyssFtQNJaxa2KHk75aYeMaZvmMcG7ITwtMRA,1894
-pytcl/assignment_algorithms/__init__.py,sha256=Un6EytXOx2TNr8wk8w26oV0Hc8RUiTeYMo6XSSCnzkc,1523
+pytcl/__init__.py,sha256=gskiDd7_BZ-aWQ3h_uxnX6oGP3ylOmb69Mws0xLnEAQ,1894
+pytcl/assignment_algorithms/__init__.py,sha256=f9V-TkEVmiKYYyth4PTpDfJvA7yYV_ys6Zix-QwWIYY,2136
 pytcl/assignment_algorithms/data_association.py,sha256=X6Kww9-J2WLxU1790w7dRvAFdM90RSXHvs7IF26zweQ,11427
 pytcl/assignment_algorithms/gating.py,sha256=fN_oAOkv7nYYOWE1oPOLrcCn3xEpKdMVlFSbRMAURxY,10815
-pytcl/assignment_algorithms/jpda.py,sha256=hvZGkSrStuw9iQg7gPuIV7_bOinX3Xix5vLrVLMnEMM,19288
-pytcl/assignment_algorithms/two_dimensional/__init__.py,sha256=kdO7IGm_Y37g-R7r145yLyqdc0JCqR4sDafY8mQ3GHk,442
-pytcl/assignment_algorithms/two_dimensional/assignment.py,sha256=IRwbv-82dEbbm3KwjyUjuUWM3wP9s6oUtzX2mZffMjA,11419
+pytcl/assignment_algorithms/jpda.py,sha256=Hv55j3J9qVwzlUfWdXdSasodTyB1ZKdgEpo5dBh95O8,19582
+pytcl/assignment_algorithms/three_dimensional/__init__.py,sha256=1Q40OUlUQoo7YKEucwdrSNo3D4A0Zibvkr8z4TpueBg,526
+pytcl/assignment_algorithms/three_dimensional/assignment.py,sha256=9BJhwlYu3JJ0kZ9sRyKKfpdvQdL4WYYHCtLbvaWycBw,19212
+pytcl/assignment_algorithms/two_dimensional/__init__.py,sha256=4Evsn__9hTfI2i8m8Ngl-Zy0Fa2OydKmDKlZlH6jaao,778
+pytcl/assignment_algorithms/two_dimensional/assignment.py,sha256=eh87MBb-uiUSI1MXj4HrreRKB6Z8rxAyDkNQ8-u4SbM,11848
+pytcl/assignment_algorithms/two_dimensional/kbest.py,sha256=yiTToLuP7xWxQlQ8E-fpgXg-5iu0nnXcJXStjUB0nOE,17284
 pytcl/astronomical/__init__.py,sha256=SKELDaDhxpvCo1dMswBQYOQr_Th3ShuzZTzxZMdhE-U,5650
 pytcl/astronomical/lambert.py,sha256=Lc8FT1JmpI9WSXsG2s5vIRkSoBSV7r5hd3o2bGh2Ojo,15607
 pytcl/astronomical/orbital_mechanics.py,sha256=8GssRanwTowCl6PJYqmB_SDnNznLUq5gkPa3j6iEo3U,19965
@@ -13,14 +16,17 @@ pytcl/astronomical/time_systems.py,sha256=Jg0Zaq60hc4Ts1aQtb5bK4KSZhz-uQse8gYC89
 pytcl/atmosphere/__init__.py,sha256=QAYgJYzgs0kreRV8fByii4p477LCxBDfrXB_cL7SYkM,706
 pytcl/atmosphere/models.py,sha256=pMLv8D7qoFqLZrlbTHLJJULOdDdhPskJ1m7KVKLV63E,9584
 pytcl/clustering/__init__.py,sha256=bYdhC_XJEt6KUUni9bIPxaddXNEGmIJQvGkA14rK4J8,1697
-pytcl/clustering/dbscan.py,sha256=cjBi5b0gcBgFqUtkLm1G0JMJLQYALahyYuoSI4G0zAY,6903
+pytcl/clustering/dbscan.py,sha256=PS6QlOwHFerbZNEb3zcNhN4oNQpgOOw5y0WskQzyKIo,7364
 pytcl/clustering/gaussian_mixture.py,sha256=U5U0Z46tZWdTLNdNNNJenoeviwZRAOvexVFYVLt4QMc,22865
-pytcl/clustering/hierarchical.py,sha256=PEkIGqAQ33InUGIcCRevv0rko4R1HqIwfejNhHsbnKQ,13794
-pytcl/clustering/kmeans.py,sha256=fmUIQdQLKCocwmMabdReQ0cKqMNKNFI_DyTCivPmAtw,10842
-pytcl/containers/__init__.py,sha256=RV0-7l97cc3iE_pwzt9zWzY-wymiUoIvL8qU1P2XWYU,966
+pytcl/clustering/hierarchical.py,sha256=Hw9BFCn5df_ATpJX63R3B31MHz27ztCw9ihMDIlI688,14202
+pytcl/clustering/kmeans.py,sha256=250FQyDol5S_Y4TznNn9cEuE96UDp7wvEkPZJ1DLul8,10697
+pytcl/containers/__init__.py,sha256=t8oRtusBrh6G2dEk2PcofmxrpLPQ9nOJwH19GyKnNcc,1699
+pytcl/containers/cluster_set.py,sha256=_lZ39PNHTL7fUEZAwBF2ICK6v0GjZKpeUOg0knEdPzo,22760
 pytcl/containers/covertree.py,sha256=1JWqXxoUFLxuMnjwj2qf0iz2uPzdujQYdwJW3l5qsOs,13282
 pytcl/containers/kd_tree.py,sha256=pxRC62RYkqz9zXPz6c1fubmtPPBDLYA5I9AXMAoGanw,16348
+pytcl/containers/measurement_set.py,sha256=Kr29mlJOCyGMYhMnE89f-W72aunlv4p04QAdfCZcm-0,12687
 pytcl/containers/rtree.py,sha256=gv2EztvPnaAXEa6OoFnOYBY1MfTwjNMYh_BCiIomHJk,15450
+pytcl/containers/track_list.py,sha256=6q9Qgcwm-8H_JqtOCsMssF27av4XaSkhfDl-MWb1ABc,12520
 pytcl/containers/vptree.py,sha256=6fBNHrezkmj7L2nH0-2bONRN92f5cZAhS-5vaI1JZnA,8814
 pytcl/coordinate_systems/__init__.py,sha256=jwYhu_-9AvOeP9WLG9PYtyDwfe0GjxNZ9-xCqiLymW4,3909
 pytcl/coordinate_systems/conversions/__init__.py,sha256=PkNevB78vBw0BkalydJBbQO91AyiMJxKRrgJNt4HsYc,1100
@@ -36,17 +42,19 @@ pytcl/core/__init__.py,sha256=H5JJPS-43DfF1UG7fSgV-VMTcZFBO8GuzDW1lM_1sm4,1152
 pytcl/core/array_utils.py,sha256=SsgEiAoRCWxAVKq1aa5-nPdOi-2AB6XNObu0IaGClUk,13983
 pytcl/core/constants.py,sha256=lZVDK5zsSR02_4b2Nqx9KDtZT9QaYhkZ9wuoODbifd4,8693
 pytcl/core/validation.py,sha256=WRlzMlUihtqc3XZoWOTFK0sBAZVDIwTMGCiWcX5OZVY,13093
-pytcl/dynamic_estimation/__init__.py,sha256=ASAfa2wrenjqRIKnvesXwfdwECvA2PODJXWN9yQNhq0,3427
-pytcl/dynamic_estimation/imm.py,sha256=CoOwJJv0DMrNKRkP-OqWbSxZO_-GAgNLaQ4KiBhjvEg,21313
+pytcl/dynamic_estimation/__init__.py,sha256=jA5FF6kHYklY5LMOfZaKcCeiPTpVe8vHIMp3ECDOmsc,4582
+pytcl/dynamic_estimation/imm.py,sha256=t4dlutWeCLtAMl-ylNbxMUC3gbRBF_sXI3bX4PAk-OQ,22080
+pytcl/dynamic_estimation/information_filter.py,sha256=x7iQwO_iJT1dCSvDws5LqD3yAtjw9QVGUfMPcXn1IA4,17349
+pytcl/dynamic_estimation/smoothers.py,sha256=qC_g0YG0U4L_7rGBpcZzYcb11A--Hc8tb0fxWXIJdxM,18931
 pytcl/dynamic_estimation/batch_estimation/__init__.py,sha256=JQ0s76Enov5a7plA4EnUua4t-7etikQrwr5z4WIjUeo,46
 pytcl/dynamic_estimation/kalman/__init__.py,sha256=yoFLj0n-NRkdZnRVL-BkHBlATk8pfZEVlsY3BhSYgKc,2387
 pytcl/dynamic_estimation/kalman/extended.py,sha256=_deQTnUGOp_BlhP-FDEY0LOjgUMN32FQn0V12unCM4A,10397
-pytcl/dynamic_estimation/kalman/linear.py,sha256=sTfWt_yDxyQCA0SMjOx4xfhVnq3nReOVUObXuUuZRv8,11844
+pytcl/dynamic_estimation/kalman/linear.py,sha256=1Zgg9gZya0Vxs9im7sPUqLj0Luo463vS-RSa6GCReFI,12248
 pytcl/dynamic_estimation/kalman/square_root.py,sha256=Hw1F4_Zc7IA6Mt1WCkjx1UuLAUmNhM5vPLvueb7oRSA,26931
-pytcl/dynamic_estimation/kalman/unscented.py,sha256=NXPBTAf6814Yw5HTFpX21w_Y0eSC6q1gZSRUHHYEQjI,14943
+pytcl/dynamic_estimation/kalman/unscented.py,sha256=VmYE8LuM1nWpFTmD39iXdEZ3m41IsurCCbXJ19-ERFs,15440
 pytcl/dynamic_estimation/measurement_update/__init__.py,sha256=8rlyJwVpxf0fZj-AFo1hlewvryZRhUzcy3F8uMe6I8c,48
 pytcl/dynamic_estimation/particle_filters/__init__.py,sha256=-DRF5rVF2749suLlArmkTvVkqeMcV_mIx0eLeTj6wNU,906
-pytcl/dynamic_estimation/particle_filters/bootstrap.py,sha256=EfF9w0xqyBIYOHIwoYRt7D8aCgdPoGpvaFINu8gCZ80,12396
+pytcl/dynamic_estimation/particle_filters/bootstrap.py,sha256=FcF4W_NM5ZqJnw5fq4rq6fLY9X1r4uFJOiAX9a-NGG8,13371
 pytcl/dynamic_models/__init__.py,sha256=Cd8MyyYuB8gMnepkPA-HSwTaKFPThnqoKOhdjVOsXWg,2783
 pytcl/dynamic_models/continuous_time/__init__.py,sha256=dAkfEddLkfMvDalK9v2GRBvaZV1KgqYpFBLOnoiFClw,1023
 pytcl/dynamic_models/continuous_time/dynamics.py,sha256=CDwqn-66eUwXA5xfIjaG6A4EDBqtOyQ3aWarJr9QH4g,12858
@@ -80,17 +88,21 @@ pytcl/mathematical_functions/geometry/geometry.py,sha256=l63wQnhCtJwVHZOJeONX1qy
 pytcl/mathematical_functions/interpolation/__init__.py,sha256=HDhP7ZsgUrXFBNJ_eCZEdp5gizWJ-BxvkQSCMnvBg3A,677
 pytcl/mathematical_functions/interpolation/interpolation.py,sha256=2cXMDgWBjWDGHnK1K_lawFlJL8oPl5AQGf9MNgsESfo,12610
 pytcl/mathematical_functions/numerical_integration/__init__.py,sha256=iXiHzyV_KIhCv7tXErXlN1_fUEACN6yN3CYDHRA7esw,974
-pytcl/mathematical_functions/numerical_integration/quadrature.py,sha256=ErxG_HLfM2LjKStguK_2wEhodln63v1FVubetAS5GL0,14748
+pytcl/mathematical_functions/numerical_integration/quadrature.py,sha256=ZRMKs0vbcgFDe1Sr8sjyEOkALLmJU4zKRJjoPEcXrUc,15670
 pytcl/mathematical_functions/polynomials/__init__.py,sha256=WJWZcoQhnvy5f59-kncMTgD9mCtgwfDgULvDYYHS5ys,43
 pytcl/mathematical_functions/signal_processing/__init__.py,sha256=_SzzBVtxmSvP8FKeogRdNmFo8FOVDDoexVOqd-lE7do,2325
 pytcl/mathematical_functions/signal_processing/detection.py,sha256=9F0xdy3hMat1czSWAQYMExn0kY5DBRpyBneAfjjHUVI,30377
 pytcl/mathematical_functions/signal_processing/filters.py,sha256=8Ojf4h4rfiucBXqUmB1odvHH41Gf3rPwmWCMKb-qzWk,23435
 pytcl/mathematical_functions/signal_processing/matched_filter.py,sha256=AahJZRZk2IIXzRL7www0n8bc0XoKabaLOe8yYNSjuDY,22893
-pytcl/mathematical_functions/special_functions/__init__.py,sha256=fXACpf-y1Jdq7UmVjwETUVhN_mkATT1I4tKbT1FW-C0,2017
-pytcl/mathematical_functions/special_functions/bessel.py,sha256=0sVwL1pPqNYiVkjXqacnkHoPBkiomk0D7IDu6-bKtEs,8139
+pytcl/mathematical_functions/special_functions/__init__.py,sha256=qDPGfee1i1NkVi9LXJKnsWXL3CWHkPQINrkwqLqB8YU,3796
+pytcl/mathematical_functions/special_functions/bessel.py,sha256=M0mwLQBaUXEHA8wyKReJ2D66I1v1XR7y-txAipd-WDs,14377
+pytcl/mathematical_functions/special_functions/debye.py,sha256=Nchjwkl1vzSL1L7nQpslb-lvT49LgTfdTIQMeSNn4vQ,6689
 pytcl/mathematical_functions/special_functions/elliptic.py,sha256=WyzBkrfZufIR5dUmCKGcxp6KNpVDrU89NGLDyRrZOqQ,7418
 pytcl/mathematical_functions/special_functions/error_functions.py,sha256=a3SS8FYAMRv1KdCmebOZL95yjvVt9gZRF2XOjHvQ9M8,6253
 pytcl/mathematical_functions/special_functions/gamma_functions.py,sha256=xXN_9SCokH10HjE8PpaPKHYVK_RZRHRAbZgR2mZYIAA,10191
+pytcl/mathematical_functions/special_functions/hypergeometric.py,sha256=gKn_tXboEst7pVDiW15IbKFAANM4XVqKtDc1dmWL-2A,9768
+pytcl/mathematical_functions/special_functions/lambert_w.py,sha256=ivRc4KH5Lwoxb_yijrJEwG0ITa0hhcYF7_gCfVBBNW4,6855
+pytcl/mathematical_functions/special_functions/marcum_q.py,sha256=OZ5QjIB1e_XvRG8A-3dbZ13YXHtdk2EYVEPaqtgVr14,9580
 pytcl/mathematical_functions/statistics/__init__.py,sha256=dfypStgmnFmOrnWcm-3CEvLinONHraFgx9O66_37bqw,1278
 pytcl/mathematical_functions/statistics/distributions.py,sha256=icfFIIKCEFzkpFHuYGWL197nm8wvS7UPJlr9kd_uEgw,19373
 pytcl/mathematical_functions/statistics/estimators.py,sha256=TLnYXSwk5MzBakZrzDBupbOB3ONmJI7q1-oB2xuSVQM,10831
@@ -99,10 +111,12 @@ pytcl/mathematical_functions/transforms/fourier.py,sha256=QH6OaTzw4kN6M-DuSmwB_5
 pytcl/mathematical_functions/transforms/stft.py,sha256=zQapXl-v69_RDPwMqci83jah17GyAfnr3gx0budv2Cg,18619
 pytcl/mathematical_functions/transforms/wavelets.py,sha256=dm273Z_t13BlEVSlHTaGE7jR1ocugL7lEkcO499U7bY,21656
 pytcl/misc/__init__.py,sha256=SCHf_lQVfdl2gwUluHBiIloTF8HRH8EkgYfbNr7zOug,33
-pytcl/navigation/__init__.py,sha256=NHlld_i1lTTO6Q18Ozm_yUj--d3kbu_nmL2cJCGlDLY,4027
+pytcl/navigation/__init__.py,sha256=9tUhEgPVugA8nmZ9rvOaAntCd7rDPgW2RBLHqaDAXSc,5864
 pytcl/navigation/geodesy.py,sha256=M9XXfBTMCRdaWMV2-ViDSTEt94WZnMtxMeJQ1FAgQHY,17227
+pytcl/navigation/great_circle.py,sha256=TtlkWZbzr-HzSt4ultG_h137ZnX0pJZx_87kr3uvpjI,20923
 pytcl/navigation/ins.py,sha256=V3ZA4z8y5E6PBCd1FhifR5VaCU7DRAn2fb7W0LilByo,31168
 pytcl/navigation/ins_gnss.py,sha256=euKF5JGgwmVBsw3jBf7_wa2z1BpZeVbSNmBuwzhGS6c,30157
+pytcl/navigation/rhumb.py,sha256=lr1c3iEXfoOSfIyyXSRWv6He5TlaxEHbJy-dhqM1gRw,18224
 pytcl/performance_evaluation/__init__.py,sha256=tM2pnBfDb2XbnLt4Y5MQ6w6XBwFy_5bf_y0toZmxx88,1859
 pytcl/performance_evaluation/estimation_metrics.py,sha256=X1ZCpp8m6DV14N2wbMvlRwfORRKga8DgKmG3dROyJqA,12351
 pytcl/performance_evaluation/track_metrics.py,sha256=Nd3royJkAelZV-Qggl8i72e7WocCxWomgliArvVAEkc,13342
@@ -127,8 +141,8 @@ pytcl/trackers/mht.py,sha256=7mwhMmja3ri2wnx7W1wueDGn2r3ArwAxJDPUJ7IZAkQ,20617
 pytcl/trackers/multi_target.py,sha256=7ZL8V25TO_rEMtQm2eYkScesDQHC9qXZVHLHyVbxy3M,10529
 pytcl/trackers/single_target.py,sha256=Yy3FwaNTArMWcaod-0HVeiioNV4xLWxNDn_7ZPVqQYs,6562
 pytcl/transponders/__init__.py,sha256=5fL4u3lKCYgPLo5uFeuZbtRZkJPABntuKYGUvVgMMEI,41
-nrl_tracker-0.13.2.dist-info/LICENSE,sha256=rB5G4WppIIUzMOYr2N6uyYlNJ00hRJqE5tie6BMvYuE,1612
-nrl_tracker-0.13.2.dist-info/METADATA,sha256=QoDNSjw-OHiQWt4inyMiCxuHJ9r587u1P-1yEnxc6Go,9635
-nrl_tracker-0.13.2.dist-info/WHEEL,sha256=pL8R0wFFS65tNSRnaOVrsw9EOkOqxLrlUPenUYnJKNo,91
-nrl_tracker-0.13.2.dist-info/top_level.txt,sha256=17megxcrTPBWwPZTh6jTkwTKxX7No-ZqRpyvElnnO-s,6
-nrl_tracker-0.13.2.dist-info/RECORD,,
+nrl_tracker-0.21.4.dist-info/LICENSE,sha256=rB5G4WppIIUzMOYr2N6uyYlNJ00hRJqE5tie6BMvYuE,1612
+nrl_tracker-0.21.4.dist-info/METADATA,sha256=kfdnUMvBqNlpI3skCRZZQIQF8gYBLHSGcgSZ5gGwDXw,10005
+nrl_tracker-0.21.4.dist-info/WHEEL,sha256=pL8R0wFFS65tNSRnaOVrsw9EOkOqxLrlUPenUYnJKNo,91
+nrl_tracker-0.21.4.dist-info/top_level.txt,sha256=17megxcrTPBWwPZTh6jTkwTKxX7No-ZqRpyvElnnO-s,6
+nrl_tracker-0.21.4.dist-info/RECORD,,

pytcl/__init__.py

@@ -20,7 +20,7 @@ References
        no. 5, pp. 18-27, May 2017.
 """
 
-__version__ = "0.13.2"
+__version__ = "0.21.4"
 __author__ = "Python Port Contributors"
 __original_author__ = "David F. Crouse, Naval Research Laboratory"
 

pytcl/assignment_algorithms/__init__.py

@@ -2,7 +2,9 @@
 Assignment algorithms for data association in target tracking.
 
 This module provides:
-- 2D assignment algorithms (Hungarian, Auction, JVC)
+- 2D assignment algorithms (Hungarian, Auction)
+- K-best 2D assignment (Murty's algorithm)
+- 3D assignment algorithms (Lagrangian relaxation, Auction)
 - Gating methods (ellipsoidal, rectangular)
 - Data association algorithms (GNN, JPDA)
 """
@@ -30,12 +32,24 @@ from pytcl.assignment_algorithms.jpda import (
     jpda_probabilities,
     jpda_update,
 )
+from pytcl.assignment_algorithms.three_dimensional import (
+    Assignment3DResult,
+    assign3d,
+    assign3d_auction,
+    assign3d_lagrangian,
+    decompose_to_2d,
+    greedy_3d,
+)
 from pytcl.assignment_algorithms.two_dimensional import (
     AssignmentResult,
+    KBestResult,
     assign2d,
     auction,
     hungarian,
+    kbest_assign2d,
     linear_sum_assignment,
+    murty,
+    ranked_assignments,
 )
 
 __all__ = [
@@ -45,6 +59,18 @@ __all__ = [
     "linear_sum_assignment",
     "assign2d",
     "AssignmentResult",
+    # K-Best 2D Assignment
+    "KBestResult",
+    "murty",
+    "kbest_assign2d",
+    "ranked_assignments",
+    # 3D Assignment
+    "Assignment3DResult",
+    "assign3d",
+    "assign3d_lagrangian",
+    "assign3d_auction",
+    "greedy_3d",
+    "decompose_to_2d",
     # Gating
     "ellipsoidal_gate",
     "rectangular_gate",

pytcl/assignment_algorithms/jpda.py

@@ -12,6 +12,7 @@ as JPDA can handle measurement origin uncertainty in cluttered environments.
 from typing import List, NamedTuple, Optional, Tuple
 
 import numpy as np
+from numba import njit
 from numpy.typing import ArrayLike, NDArray
 from scipy.stats import chi2
 
@@ -314,45 +315,34 @@ def _jpda_exact(
     return beta
 
 
-def _jpda_approximate(
-    likelihood_matrix: NDArray,
-    gated: NDArray,
+@njit(cache=True)
+def _jpda_approximate_core(
+    likelihood_matrix: np.ndarray,
+    gated: np.ndarray,
     detection_prob: float,
     clutter_density: float,
-) -> NDArray:
-    """
-    Approximate JPDA using parametric approach.
-
-    Uses the approach from [1] which is O(n_tracks * n_meas^2).
-
-    References
-    ----------
-    .. [1] Fitzgerald, R.J., "Development of Practical PDA Logic for
-           Multitarget Tracking by Microprocessor", American Control
-           Conference, 1986.
-    """
-    n_tracks, n_meas = likelihood_matrix.shape
-    beta = np.zeros((n_tracks, n_meas + 1))
-
-    # For each track, compute association probabilities independently
-    # then apply correction for shared measurements
+) -> np.ndarray:
+    """JIT-compiled core of approximate JPDA computation."""
+    n_tracks = likelihood_matrix.shape[0]
+    n_meas = likelihood_matrix.shape[1]
+    beta = np.zeros((n_tracks, n_meas + 1), dtype=np.float64)
 
     # Likelihood ratio for each measurement given each track
-    # L[i,j] = likelihood(z_j | track i) / clutter_density
-    L = np.zeros((n_tracks, n_meas))
+    L = np.zeros((n_tracks, n_meas), dtype=np.float64)
     for i in range(n_tracks):
         for j in range(n_meas):
             if gated[i, j] and clutter_density > 0:
                 L[i, j] = likelihood_matrix[i, j] / clutter_density
             elif gated[i, j]:
-                L[i, j] = likelihood_matrix[i, j] * 1e10  # Large value
+                L[i, j] = likelihood_matrix[i, j] * 1e10
 
     # Compute delta factors (accounts for other tracks)
-    delta = np.ones((n_tracks, n_meas))
+    delta = np.ones((n_tracks, n_meas), dtype=np.float64)
 
     for j in range(n_meas):
-        # Sum of likelihood ratios for measurement j
-        sum_L = np.sum(L[:, j])
+        sum_L = 0.0
+        for i in range(n_tracks):
+            sum_L += L[i, j]
         for i in range(n_tracks):
             if sum_L > 0:
                 delta[i, j] = 1.0 / (1.0 + sum_L - L[i, j])
@@ -361,7 +351,6 @@ def _jpda_approximate(
 
     # Compute association probabilities
     for i in range(n_tracks):
-        # Denominator for normalization
         denom = 1.0 - detection_prob
 
         for j in range(n_meas):
@@ -369,9 +358,9 @@ def _jpda_approximate(
                 beta[i, j] = detection_prob * L[i, j] * delta[i, j]
                 denom += beta[i, j]
 
-        # Normalize
         if denom > 0:
-            beta[i, :n_meas] /= denom
+            for j in range(n_meas):
+                beta[i, j] /= denom
             beta[i, n_meas] = (1.0 - detection_prob) / denom
         else:
             beta[i, n_meas] = 1.0
@@ -379,6 +368,31 @@ def _jpda_approximate(
     return beta
 
 
+def _jpda_approximate(
+    likelihood_matrix: NDArray,
+    gated: NDArray,
+    detection_prob: float,
+    clutter_density: float,
+) -> NDArray:
+    """
+    Approximate JPDA using parametric approach.
+
+    Uses the approach from [1] which is O(n_tracks * n_meas^2).
+
+    References
+    ----------
+    .. [1] Fitzgerald, R.J., "Development of Practical PDA Logic for
+           Multitarget Tracking by Microprocessor", American Control
+           Conference, 1986.
+    """
+    return _jpda_approximate_core(
+        likelihood_matrix.astype(np.float64),
+        gated.astype(np.bool_),
+        detection_prob,
+        clutter_density,
+    )
+
+
 def jpda_update(
     track_states: List[ArrayLike],
     track_covariances: List[ArrayLike],

pytcl/assignment_algorithms/three_dimensional/__init__.py

@@ -0,0 +1,24 @@
+"""
+Three-dimensional assignment algorithms.
+
+This module provides algorithms for solving 3D assignment problems,
+which arise in multi-sensor data fusion and multi-scan tracking.
+"""
+
+from pytcl.assignment_algorithms.three_dimensional.assignment import (
+    Assignment3DResult,
+    assign3d,
+    assign3d_auction,
+    assign3d_lagrangian,
+    decompose_to_2d,
+    greedy_3d,
+)
+
+__all__ = [
+    "Assignment3DResult",
+    "assign3d",
+    "assign3d_lagrangian",
+    "assign3d_auction",
+    "greedy_3d",
+    "decompose_to_2d",
+]