nrl-tracker 0.21.4__py3-none-any.whl → 0.22.0__py3-none-any.whl

pytcl/clustering/hierarchical.py

@@ -12,11 +12,15 @@ References
 """
 
 from enum import Enum
-from typing import List, Literal, NamedTuple, Optional
+from typing import List
+from typing import Literal
+from typing import NamedTuple
+from typing import Optional
 
 import numpy as np
 from numba import njit
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
 
 class LinkageType(Enum):
@@ -152,11 +156,7 @@ def _ward_linkage(
     """Ward's linkage: minimum variance merge."""
     total = size_i + size_j + size_k
     return np.sqrt(
-        (
-            (size_i + size_k) * dist_i**2
-            + (size_j + size_k) * dist_j**2
-            - size_k * dist_ij**2
-        )
+        ((size_i + size_k) * dist_i**2 + (size_j + size_k) * dist_j**2 - size_k * dist_ij**2)
         / total
     )
 

pytcl/clustering/kmeans.py

@@ -10,10 +10,14 @@ References
        Careful Seeding," SODA 2007.
 """
 
-from typing import Literal, NamedTuple, Optional, Union
+from typing import Literal
+from typing import NamedTuple
+from typing import Optional
+from typing import Union
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 from scipy.spatial.distance import cdist
 
 
@@ -250,9 +254,7 @@ def kmeans(
         raise ValueError(f"n_clusters ({n_clusters}) > n_samples ({n_samples})")
 
     # Check if initial centers are provided
-    if isinstance(init, np.ndarray) or (
-        isinstance(init, (list, tuple)) and len(init) > 0
-    ):
+    if isinstance(init, np.ndarray) or (isinstance(init, (list, tuple)) and len(init) > 0):
         init_centers = np.asarray(init, dtype=np.float64)
         if init_centers.shape != (n_clusters, n_features):
             raise ValueError(

pytcl/containers/__init__.py

@@ -5,49 +5,35 @@ This module provides spatial data structures for efficient
 nearest neighbor queries, spatial indexing, and tracking containers.
 """
 
-from pytcl.containers.cluster_set import (
-    ClusterSet,
-    ClusterStats,
-    TrackCluster,
-    cluster_tracks_dbscan,
-    cluster_tracks_kmeans,
-    compute_cluster_centroid,
-)
-from pytcl.containers.covertree import (
-    CoverTree,
-    CoverTreeNode,
-    CoverTreeResult,
-)
-from pytcl.containers.kd_tree import (
-    BallTree,
-    KDNode,
-    KDTree,
-    NearestNeighborResult,
-)
-from pytcl.containers.measurement_set import (
-    Measurement,
-    MeasurementQuery,
-    MeasurementSet,
-)
-from pytcl.containers.rtree import (
-    BoundingBox,
-    RTree,
-    RTreeNode,
-    RTreeResult,
-    box_from_point,
-    box_from_points,
-    merge_boxes,
-)
-from pytcl.containers.track_list import (
-    TrackList,
-    TrackListStats,
-    TrackQuery,
-)
-from pytcl.containers.vptree import (
-    VPNode,
-    VPTree,
-    VPTreeResult,
-)
+from pytcl.containers.cluster_set import ClusterSet
+from pytcl.containers.cluster_set import ClusterStats
+from pytcl.containers.cluster_set import TrackCluster
+from pytcl.containers.cluster_set import cluster_tracks_dbscan
+from pytcl.containers.cluster_set import cluster_tracks_kmeans
+from pytcl.containers.cluster_set import compute_cluster_centroid
+from pytcl.containers.covertree import CoverTree
+from pytcl.containers.covertree import CoverTreeNode
+from pytcl.containers.covertree import CoverTreeResult
+from pytcl.containers.kd_tree import BallTree
+from pytcl.containers.kd_tree import KDNode
+from pytcl.containers.kd_tree import KDTree
+from pytcl.containers.kd_tree import NearestNeighborResult
+from pytcl.containers.measurement_set import Measurement
+from pytcl.containers.measurement_set import MeasurementQuery
+from pytcl.containers.measurement_set import MeasurementSet
+from pytcl.containers.rtree import BoundingBox
+from pytcl.containers.rtree import RTree
+from pytcl.containers.rtree import RTreeNode
+from pytcl.containers.rtree import RTreeResult
+from pytcl.containers.rtree import box_from_point
+from pytcl.containers.rtree import box_from_points
+from pytcl.containers.rtree import merge_boxes
+from pytcl.containers.track_list import TrackList
+from pytcl.containers.track_list import TrackListStats
+from pytcl.containers.track_list import TrackQuery
+from pytcl.containers.vptree import VPNode
+from pytcl.containers.vptree import VPTree
+from pytcl.containers.vptree import VPTreeResult
 
 __all__ = [
     # K-D Tree

pytcl/containers/cluster_set.py

@@ -7,19 +7,18 @@ that move together (formations, convoys, etc.).
 
 from __future__ import annotations
 
-from typing import (
-    Dict,
-    Iterable,
-    Iterator,
-    List,
-    NamedTuple,
-    Optional,
-    Tuple,
-    Union,
-)
+from typing import Dict
+from typing import Iterable
+from typing import Iterator
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
+from typing import Union
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
 from pytcl.clustering.dbscan import dbscan
 from pytcl.clustering.kmeans import kmeans
@@ -299,9 +298,7 @@ class ClusterSet:
             self._clusters = list(clusters)
 
         # Build lookups
-        self._id_to_idx: Dict[int, int] = {
-            c.id: i for i, c in enumerate(self._clusters)
-        }
+        self._id_to_idx: Dict[int, int] = {c.id: i for i, c in enumerate(self._clusters)}
         self._track_to_cluster: Dict[int, int] = {}
         for cluster in self._clusters:
             for track_id in cluster.track_ids:
@@ -418,9 +415,7 @@ class ClusterSet:
             return self.get_cluster(cluster_id)
         return None
 
-    def clusters_in_region(
-        self, center: ArrayLike, radius: float
-    ) -> List[TrackCluster]:
+    def clusters_in_region(self, center: ArrayLike, radius: float) -> List[TrackCluster]:
         """
         Get clusters with centroids within a spatial region.
 
@@ -569,9 +564,7 @@ class ClusterSet:
         """
         result = {}
         for cluster in self._clusters:
-            stats = self.cluster_stats(
-                cluster.id, tracks, state_indices, velocity_indices
-            )
+            stats = self.cluster_stats(cluster.id, tracks, state_indices, velocity_indices)
             if stats is not None:
                 result[cluster.id] = stats
         return result

pytcl/containers/covertree.py

@@ -11,10 +11,16 @@ References
        neighbor," ICML 2006.
 """
 
-from typing import Callable, List, NamedTuple, Optional, Set, Tuple
+from typing import Callable
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Set
+from typing import Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
 
 class CoverTreeResult(NamedTuple):

pytcl/containers/kd_tree.py

@@ -13,10 +13,14 @@ References
        Finding Best Matches in Logarithmic Expected Time," ACM TOMS, 1977.
 """
 
-from typing import List, NamedTuple, Optional, Tuple
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
 
 class KDNode:

pytcl/containers/measurement_set.py

@@ -7,18 +7,17 @@ with spatial query support.
 
 from __future__ import annotations
 
-from typing import (
-    Iterable,
-    Iterator,
-    List,
-    NamedTuple,
-    Optional,
-    Tuple,
-    Union,
-)
+from typing import Iterable
+from typing import Iterator
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
+from typing import Union
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
 from pytcl.containers.kd_tree import KDTree
 
@@ -211,9 +210,7 @@ class MeasurementSet:
         MeasurementSet
             Measurements at the specified time.
         """
-        measurements = [
-            m for m in self._measurements if abs(m.time - time) <= tolerance
-        ]
+        measurements = [m for m in self._measurements if abs(m.time - time) <= tolerance]
         return MeasurementSet(measurements)
 
     def in_time_window(self, start: float, end: float) -> MeasurementSet:
@@ -354,9 +351,7 @@ class MeasurementSet:
             return np.zeros((0, 0))
         return np.array([m.value for m in self._measurements])
 
-    def values_at_time(
-        self, time: float, tolerance: float = 1e-9
-    ) -> NDArray[np.float64]:
+    def values_at_time(self, time: float, tolerance: float = 1e-9) -> NDArray[np.float64]:
         """
         Extract measurement values at a specific time.
 

pytcl/containers/rtree.py

@@ -13,10 +13,14 @@ References
        Method for Points and Rectangles," ACM SIGMOD, 1990.
 """
 
-from typing import List, NamedTuple, Optional, Tuple
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
 
 class BoundingBox(NamedTuple):
@@ -281,9 +285,7 @@ class RTree:
 
         # Simple split: sort by center x-coordinate and split in half
         if node.is_leaf:
-            sorted_entries = sorted(
-                entries, key=lambda e: e[0].center[0] if e[0] else 0
-            )
+            sorted_entries = sorted(entries, key=lambda e: e[0].center[0] if e[0] else 0)
         else:
             sorted_entries = sorted(
                 entries,
@@ -481,8 +483,7 @@ class RTree:
             else:
                 # Sort children by distance and search closest first
                 child_dists = [
-                    (min_dist_to_box(query, c.bbox) if c.bbox else np.inf, c)
-                    for c in node.children
+                    (min_dist_to_box(query, c.bbox) if c.bbox else np.inf, c) for c in node.children
                 ]
                 child_dists.sort(key=lambda x: x[0])
                 for _, child in child_dists:

pytcl/containers/track_list.py

@@ -7,22 +7,22 @@ with filtering, querying, and batch operations.
 
 from __future__ import annotations
 
-from typing import (
-    TYPE_CHECKING,
-    Callable,
-    Iterable,
-    Iterator,
-    List,
-    NamedTuple,
-    Optional,
-    Tuple,
-    Union,
-)
+from typing import TYPE_CHECKING
+from typing import Callable
+from typing import Iterable
+from typing import Iterator
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
+from typing import Union
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
-from pytcl.trackers.multi_target import Track, TrackStatus
+from pytcl.trackers.multi_target import Track
+from pytcl.trackers.multi_target import TrackStatus
 
 if TYPE_CHECKING:
     from pytcl.trackers.multi_target import MultiTargetTracker

pytcl/containers/vptree.py

@@ -11,10 +11,15 @@ References
        neighbor search in general metric spaces," SODA 1993.
 """
 
-from typing import Callable, List, NamedTuple, Optional, Tuple
+from typing import Callable
+from typing import List
+from typing import NamedTuple
+from typing import Optional
+from typing import Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
 
 class VPTreeResult(NamedTuple):

pytcl/coordinate_systems/__init__.py

@@ -15,89 +15,84 @@ systems commonly used in tracking applications:
 """
 
 # Import submodules for easy access
-from pytcl.coordinate_systems import conversions, jacobians, projections, rotations
+from pytcl.coordinate_systems import conversions
+from pytcl.coordinate_systems import jacobians
+from pytcl.coordinate_systems import projections
+from pytcl.coordinate_systems import rotations
 
 # Geodetic conversions
 # Spherical/polar conversions
-from pytcl.coordinate_systems.conversions import (
-    cart2cyl,
-    cart2pol,
-    cart2ruv,
-    cart2sphere,
-    cyl2cart,
-    ecef2enu,
-    ecef2geodetic,
-    ecef2ned,
-    enu2ecef,
-    enu2ned,
-    geocentric_radius,
-    geodetic2ecef,
-    geodetic2enu,
-    meridional_radius,
-    ned2ecef,
-    ned2enu,
-    pol2cart,
-    prime_vertical_radius,
-    ruv2cart,
-    sphere2cart,
-)
+from pytcl.coordinate_systems.conversions import cart2cyl
+from pytcl.coordinate_systems.conversions import cart2pol
+from pytcl.coordinate_systems.conversions import cart2ruv
+from pytcl.coordinate_systems.conversions import cart2sphere
+from pytcl.coordinate_systems.conversions import cyl2cart
+from pytcl.coordinate_systems.conversions import ecef2enu
+from pytcl.coordinate_systems.conversions import ecef2geodetic
+from pytcl.coordinate_systems.conversions import ecef2ned
+from pytcl.coordinate_systems.conversions import enu2ecef
+from pytcl.coordinate_systems.conversions import enu2ned
+from pytcl.coordinate_systems.conversions import geocentric_radius
+from pytcl.coordinate_systems.conversions import geodetic2ecef
+from pytcl.coordinate_systems.conversions import geodetic2enu
+from pytcl.coordinate_systems.conversions import meridional_radius
+from pytcl.coordinate_systems.conversions import ned2ecef
+from pytcl.coordinate_systems.conversions import ned2enu
+from pytcl.coordinate_systems.conversions import pol2cart
+from pytcl.coordinate_systems.conversions import prime_vertical_radius
+from pytcl.coordinate_systems.conversions import ruv2cart
+from pytcl.coordinate_systems.conversions import sphere2cart
 
 # Jacobians
-from pytcl.coordinate_systems.jacobians import (
-    cross_covariance_transform,
-    enu_jacobian,
-    geodetic_jacobian,
-    ned_jacobian,
-    numerical_jacobian,
-    polar_jacobian,
-    polar_jacobian_inv,
-    ruv_jacobian,
-    spherical_jacobian,
-    spherical_jacobian_inv,
-)
+from pytcl.coordinate_systems.jacobians import cross_covariance_transform
+from pytcl.coordinate_systems.jacobians import enu_jacobian
+from pytcl.coordinate_systems.jacobians import geodetic_jacobian
+from pytcl.coordinate_systems.jacobians import ned_jacobian
+from pytcl.coordinate_systems.jacobians import numerical_jacobian
+from pytcl.coordinate_systems.jacobians import polar_jacobian
+from pytcl.coordinate_systems.jacobians import polar_jacobian_inv
+from pytcl.coordinate_systems.jacobians import ruv_jacobian
+from pytcl.coordinate_systems.jacobians import spherical_jacobian
+from pytcl.coordinate_systems.jacobians import spherical_jacobian_inv
 
 # Projections
-from pytcl.coordinate_systems.projections import (
-    azimuthal_equidistant,
-    azimuthal_equidistant_inverse,
-    geodetic2utm,
-    lambert_conformal_conic,
-    lambert_conformal_conic_inverse,
-    mercator,
-    mercator_inverse,
-    polar_stereographic,
-    stereographic,
-    stereographic_inverse,
-    transverse_mercator,
-    transverse_mercator_inverse,
-    utm2geodetic,
-    utm_central_meridian,
-    utm_zone,
-)
+from pytcl.coordinate_systems.projections import azimuthal_equidistant
+from pytcl.coordinate_systems.projections import azimuthal_equidistant_inverse
+from pytcl.coordinate_systems.projections import geodetic2utm
+from pytcl.coordinate_systems.projections import lambert_conformal_conic
+from pytcl.coordinate_systems.projections import lambert_conformal_conic_inverse
+from pytcl.coordinate_systems.projections import mercator
+from pytcl.coordinate_systems.projections import mercator_inverse
+from pytcl.coordinate_systems.projections import polar_stereographic
+from pytcl.coordinate_systems.projections import stereographic
+from pytcl.coordinate_systems.projections import stereographic_inverse
+from pytcl.coordinate_systems.projections import transverse_mercator
+from pytcl.coordinate_systems.projections import transverse_mercator_inverse
+from pytcl.coordinate_systems.projections import utm2geodetic
+from pytcl.coordinate_systems.projections import utm_central_meridian
+from pytcl.coordinate_systems.projections import utm_zone
 
 # Rotation operations
-from pytcl.coordinate_systems.rotations import (
-    axisangle2rotmat,
-    dcm_rate,
-    euler2quat,
-    euler2rotmat,
-    is_rotation_matrix,
-    quat2euler,
-    quat2rotmat,
-    quat_conjugate,
-    quat_inverse,
-    quat_multiply,
-    quat_rotate,
-    rodrigues2rotmat,
-    rotmat2axisangle,
-    rotmat2euler,
-    rotmat2quat,
-    rotmat2rodrigues,
-    rotx,
-    roty,
-    rotz,
-    slerp,
-)
+from pytcl.coordinate_systems.rotations import axisangle2rotmat
+from pytcl.coordinate_systems.rotations import dcm_rate
+from pytcl.coordinate_systems.rotations import euler2quat
+from pytcl.coordinate_systems.rotations import euler2rotmat
+from pytcl.coordinate_systems.rotations import is_rotation_matrix
+from pytcl.coordinate_systems.rotations import quat2euler
+from pytcl.coordinate_systems.rotations import quat2rotmat
+from pytcl.coordinate_systems.rotations import quat_conjugate
+from pytcl.coordinate_systems.rotations import quat_inverse
+from pytcl.coordinate_systems.rotations import quat_multiply
+from pytcl.coordinate_systems.rotations import quat_rotate
+from pytcl.coordinate_systems.rotations import rodrigues2rotmat
+from pytcl.coordinate_systems.rotations import rotmat2axisangle
+from pytcl.coordinate_systems.rotations import rotmat2euler
+from pytcl.coordinate_systems.rotations import rotmat2quat
+from pytcl.coordinate_systems.rotations import rotmat2rodrigues
+from pytcl.coordinate_systems.rotations import rotx
+from pytcl.coordinate_systems.rotations import roty
+from pytcl.coordinate_systems.rotations import rotz
+from pytcl.coordinate_systems.rotations import slerp
 
 # Re-export commonly used functions at the top level
 

pytcl/coordinate_systems/conversions/__init__.py

@@ -8,30 +8,26 @@ This module provides:
 - Direction cosine representations (r-u-v)
 """
 
-from pytcl.coordinate_systems.conversions.geodetic import (
-    ecef2enu,
-    ecef2geodetic,
-    ecef2ned,
-    enu2ecef,
-    enu2ned,
-    geocentric_radius,
-    geodetic2ecef,
-    geodetic2enu,
-    meridional_radius,
-    ned2ecef,
-    ned2enu,
-    prime_vertical_radius,
-)
-from pytcl.coordinate_systems.conversions.spherical import (
-    cart2cyl,
-    cart2pol,
-    cart2ruv,
-    cart2sphere,
-    cyl2cart,
-    pol2cart,
-    ruv2cart,
-    sphere2cart,
-)
+from pytcl.coordinate_systems.conversions.geodetic import ecef2enu
+from pytcl.coordinate_systems.conversions.geodetic import ecef2geodetic
+from pytcl.coordinate_systems.conversions.geodetic import ecef2ned
+from pytcl.coordinate_systems.conversions.geodetic import enu2ecef
+from pytcl.coordinate_systems.conversions.geodetic import enu2ned
+from pytcl.coordinate_systems.conversions.geodetic import geocentric_radius
+from pytcl.coordinate_systems.conversions.geodetic import geodetic2ecef
+from pytcl.coordinate_systems.conversions.geodetic import geodetic2enu
+from pytcl.coordinate_systems.conversions.geodetic import meridional_radius
+from pytcl.coordinate_systems.conversions.geodetic import ned2ecef
+from pytcl.coordinate_systems.conversions.geodetic import ned2enu
+from pytcl.coordinate_systems.conversions.geodetic import prime_vertical_radius
+from pytcl.coordinate_systems.conversions.spherical import cart2cyl
+from pytcl.coordinate_systems.conversions.spherical import cart2pol
+from pytcl.coordinate_systems.conversions.spherical import cart2ruv
+from pytcl.coordinate_systems.conversions.spherical import cart2sphere
+from pytcl.coordinate_systems.conversions.spherical import cyl2cart
+from pytcl.coordinate_systems.conversions.spherical import pol2cart
+from pytcl.coordinate_systems.conversions.spherical import ruv2cart
+from pytcl.coordinate_systems.conversions.spherical import sphere2cart
 
 __all__ = [
     # Spherical/polar

pytcl/coordinate_systems/conversions/geodetic.py

@@ -6,10 +6,12 @@ longitude, altitude) and Earth-centered coordinate systems (ECEF), as well
 as local tangent plane coordinates (ENU, NED).
 """
 
-from typing import Optional, Tuple
+from typing import Optional
+from typing import Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
 from pytcl.core.constants import WGS84
 
@@ -147,9 +149,7 @@ def ecef2geodetic(
         # Bowring's iterative method
         # Initial estimate
         theta = np.arctan2(z * a, p * b)
-        lat = np.arctan2(
-            z + ep2 * b * np.sin(theta) ** 3, p - e2 * a * np.cos(theta) ** 3
-        )
+        lat = np.arctan2(z + ep2 * b * np.sin(theta) ** 3, p - e2 * a * np.cos(theta) ** 3)
 
         # Iterate for improved accuracy
         for _ in range(5):
@@ -378,18 +378,8 @@ def enu2ecef(
     cos_lon = np.cos(lon_ref)
 
     # ECEF = R^T @ ENU + ECEF_ref
-    x = (
-        -sin_lon * east
-        - sin_lat * cos_lon * north
-        + cos_lat * cos_lon * up
-        + ecef_ref[0]
-    )
-    y = (
-        cos_lon * east
-        - sin_lat * sin_lon * north
-        + cos_lat * sin_lon * up
-        + ecef_ref[1]
-    )
+    x = -sin_lon * east - sin_lat * cos_lon * north + cos_lat * cos_lon * up + ecef_ref[0]
+    y = cos_lon * east - sin_lat * sin_lon * north + cos_lat * sin_lon * up + ecef_ref[1]
     z = cos_lat * north + sin_lat * up + ecef_ref[2]
 
     if x.size == 1:

pytcl/coordinate_systems/conversions/spherical.py

@@ -5,10 +5,12 @@ This module provides functions for converting between Cartesian and
 spherical/polar coordinate systems, following tracking conventions.
 """
 
-from typing import Literal, Tuple
+from typing import Literal
+from typing import Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
+from numpy.typing import ArrayLike
+from numpy.typing import NDArray
 
 
 def cart2sphere(