nrl-tracker 0.21.4__py3-none-any.whl → 1.7.5__py3-none-any.whl

pytcl/dynamic_estimation/kalman/unscented.py

@@ -5,15 +5,12 @@ The UKF uses the unscented transform to propagate the mean and covariance
 through nonlinear functions without requiring Jacobian computation.
 """
 
-from typing import Callable, NamedTuple, Optional, Tuple
+from typing import Any, Callable, NamedTuple, Optional, Tuple
 
 import numpy as np
 from numpy.typing import ArrayLike, NDArray
 
-from pytcl.dynamic_estimation.kalman.linear import (
-    KalmanPrediction,
-    KalmanUpdate,
-)
+from pytcl.dynamic_estimation.kalman.linear import KalmanPrediction, KalmanUpdate
 
 
 class SigmaPoints(NamedTuple):
@@ -229,7 +226,7 @@ def unscented_transform(
 def ukf_predict(
     x: ArrayLike,
     P: ArrayLike,
-    f: Callable[[NDArray], NDArray],
+    f: Callable[[NDArray[Any]], NDArray[Any]],
     Q: ArrayLike,
     alpha: float = 1e-3,
     beta: float = 2.0,
@@ -295,7 +292,7 @@ def ukf_update(
     x: ArrayLike,
     P: ArrayLike,
     z: ArrayLike,
-    h: Callable[[NDArray], NDArray],
+    h: Callable[[NDArray[Any]], NDArray[Any]],
     R: ArrayLike,
     alpha: float = 1e-3,
     beta: float = 2.0,
@@ -385,7 +382,9 @@ def ukf_update(
     )
 
 
-def ckf_spherical_cubature_points(n: int) -> Tuple[NDArray, NDArray]:
+def ckf_spherical_cubature_points(
+    n: int,
+) -> tuple[NDArray[np.floating], NDArray[np.floating]]:
     """
     Generate cubature points for Cubature Kalman Filter.
 
@@ -421,7 +420,7 @@ def ckf_spherical_cubature_points(n: int) -> Tuple[NDArray, NDArray]:
 def ckf_predict(
     x: ArrayLike,
     P: ArrayLike,
-    f: Callable[[NDArray], NDArray],
+    f: Callable[[NDArray[Any]], NDArray[Any]],
     Q: ArrayLike,
 ) -> KalmanPrediction:
     """
@@ -490,7 +489,7 @@ def ckf_update(
     x: ArrayLike,
     P: ArrayLike,
     z: ArrayLike,
-    h: Callable[[NDArray], NDArray],
+    h: Callable[[NDArray[Any]], NDArray[Any]],
     R: ArrayLike,
 ) -> KalmanUpdate:
     """

pytcl/dynamic_estimation/particle_filters/bootstrap.py

@@ -5,7 +5,7 @@ This module provides particle filtering algorithms for nonlinear/non-Gaussian
 state estimation.
 """
 
-from typing import Callable, NamedTuple, Optional, Tuple
+from typing import Any, Callable, NamedTuple, Optional, Tuple
 
 import numpy as np
 from numba import njit
@@ -102,9 +102,9 @@ def resample_systematic(
 
 @njit(cache=True)
 def _resample_residual_deterministic(
-    particles: np.ndarray,
-    floor_Nw: np.ndarray,
-) -> Tuple[np.ndarray, int]:
+    particles: np.ndarray[Any, Any],
+    floor_Nw: np.ndarray[Any, Any],
+) -> Tuple[np.ndarray[Any, Any], int]:
     """JIT-compiled deterministic copy portion of residual resampling."""
     N = particles.shape[0]
     n = particles.shape[1]
@@ -196,8 +196,8 @@ def effective_sample_size(weights: NDArray[np.floating]) -> float:
 
 def bootstrap_pf_predict(
     particles: NDArray[np.floating],
-    f: Callable[[NDArray], NDArray],
-    Q_sample: Callable[[int, Optional[np.random.Generator]], NDArray],
+    f: Callable[[NDArray[Any]], NDArray[Any]],
+    Q_sample: Callable[[int, Optional[np.random.Generator]], NDArray[Any]],
     rng: Optional[np.random.Generator] = None,
 ) -> NDArray[np.floating]:
     """
@@ -242,7 +242,7 @@ def bootstrap_pf_update(
     particles: NDArray[np.floating],
     weights: NDArray[np.floating],
     z: ArrayLike,
-    likelihood_func: Callable[[NDArray, NDArray], float],
+    likelihood_func: Callable[[NDArray[Any], NDArray[Any]], float],
 ) -> Tuple[NDArray[np.floating], float]:
     """
     Bootstrap particle filter update step.
@@ -328,9 +328,9 @@ def bootstrap_pf_step(
     particles: NDArray[np.floating],
     weights: NDArray[np.floating],
     z: ArrayLike,
-    f: Callable[[NDArray], NDArray],
-    h: Callable[[NDArray], NDArray],
-    Q_sample: Callable[[int, Optional[np.random.Generator]], NDArray],
+    f: Callable[[NDArray[Any]], NDArray[Any]],
+    h: Callable[[NDArray[Any]], NDArray[Any]],
+    Q_sample: Callable[[int, Optional[np.random.Generator]], NDArray[Any]],
     R: ArrayLike,
     resample_threshold: float = 0.5,
     resample_method: str = "systematic",
@@ -378,7 +378,7 @@ def bootstrap_pf_step(
     particles_pred = bootstrap_pf_predict(particles, f, Q_sample, rng)
 
     # Update
-    def likelihood_func(z, x):
+    def likelihood_func(z: NDArray[Any], x: NDArray[Any]) -> Any:
         z_pred = h(x)
         return gaussian_likelihood(z, z_pred, R)
 
@@ -426,10 +426,10 @@ def particle_mean(
 
 @njit(cache=True)
 def _particle_covariance_core(
-    particles: np.ndarray,
-    weights: np.ndarray,
-    mean: np.ndarray,
-) -> np.ndarray:
+    particles: np.ndarray[Any, Any],
+    weights: np.ndarray[Any, Any],
+    mean: np.ndarray[Any, Any],
+) -> np.ndarray[Any, Any]:
     """JIT-compiled core for particle covariance computation."""
     N = particles.shape[0]
     n = particles.shape[1]