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

pytcl/assignment_algorithms/network_flow.py

@@ -0,0 +1,371 @@
+"""
+Network flow solutions for assignment problems.
+
+This module provides min-cost flow formulations for assignment problems,
+offering an alternative to Hungarian algorithm and relaxation methods.
+
+A min-cost flow approach:
+1. Models assignment as flow network
+2. Uses cost edges for penalties
+3. Enforces supply/demand constraints
+4. Finds minimum-cost flow solution
+5. Extracts assignment from flow
+
+References
+----------
+.. [1] Ahuja, R. K., Magnanti, T. L., & Orlin, J. B. (1993). Network Flows:
+       Theory, Algorithms, and Applications. Prentice-Hall.
+.. [2] Costain, G., & Liang, H. (2012). An Auction Algorithm for the
+       Minimum Cost Flow Problem. CoRR, abs/1208.4859.
+"""
+
+from enum import Enum
+from typing import Any, NamedTuple, Tuple
+
+import numpy as np
+from numpy.typing import NDArray
+
+
+class FlowStatus(Enum):
+    """Status of min-cost flow computation."""
+
+    OPTIMAL = 0
+    UNBOUNDED = 1
+    INFEASIBLE = 2
+    TIMEOUT = 3
+
+
+class MinCostFlowResult(NamedTuple):
+    """Result of min-cost flow computation.
+
+    Attributes
+    ----------
+    flow : ndarray
+        Flow values on each edge, shape (n_edges,).
+    cost : float
+        Total flow cost.
+    status : FlowStatus
+        Optimization status.
+    iterations : int
+        Number of iterations used.
+    """
+
+    flow: NDArray[np.float64]
+    cost: float
+    status: FlowStatus
+    iterations: int
+
+
+class FlowEdge(NamedTuple):
+    """Edge in a flow network.
+
+    Attributes
+    ----------
+    from_node : int
+        Source node index.
+    to_node : int
+        Destination node index.
+    capacity : float
+        Maximum flow on edge (default 1.0 for assignment).
+    cost : float
+        Cost per unit flow.
+    """
+
+    from_node: int
+    to_node: int
+    capacity: float
+    cost: float
+
+
+def assignment_to_flow_network(
+    cost_matrix: NDArray[np.float64],
+) -> Tuple[list[FlowEdge], NDArray[np.floating], NDArray[Any]]:
+    """
+    Convert 2D assignment problem to min-cost flow network.
+
+    Network structure:
+    - Source node (0) supplies all workers
+    - Worker nodes (1 to m) demand 1 unit each
+    - Task nodes (m+1 to m+n) supply 1 unit each
+    - Sink node (m+n+1) collects all completed tasks
+
+    Parameters
+    ----------
+    cost_matrix : ndarray
+        Cost matrix of shape (m, n) where cost[i,j] is cost of
+        assigning worker i to task j.
+
+    Returns
+    -------
+    edges : list[FlowEdge]
+        List of edges in the flow network.
+    supplies : ndarray
+        Supply/demand at each node (shape n_nodes,).
+        Positive = supply, negative = demand.
+    node_names : ndarray
+        Names of nodes for reference.
+    """
+    m, n = cost_matrix.shape
+
+    # Node numbering:
+    # 0: source
+    # 1 to m: workers
+    # m+1 to m+n: tasks
+    # m+n+1: sink
+
+    n_nodes = m + n + 2
+    source = 0
+    sink = m + n + 1
+
+    edges = []
+
+    # Source to workers: capacity 1, cost 0
+    for i in range(1, m + 1):
+        edges.append(FlowEdge(from_node=source, to_node=i, capacity=1.0, cost=0.0))
+
+    # Workers to tasks: capacity 1, cost = assignment cost
+    for i in range(m):
+        for j in range(n):
+            worker_node = i + 1
+            task_node = m + 1 + j
+            edges.append(
+                FlowEdge(
+                    from_node=worker_node,
+                    to_node=task_node,
+                    capacity=1.0,
+                    cost=cost_matrix[i, j],
+                )
+            )
+
+    # Tasks to sink: capacity 1, cost 0
+    for j in range(1, n + 1):
+        task_node = m + j
+        edges.append(
+            FlowEdge(from_node=task_node, to_node=sink, capacity=1.0, cost=0.0)
+        )
+
+    # Supply/demand: source supplies m units, sink demands m units
+    supplies = np.zeros(n_nodes)
+    supplies[source] = float(m)
+    supplies[sink] = float(-m)
+
+    node_names = np.array(
+        ["source"]
+        + [f"worker_{i}" for i in range(m)]
+        + [f"task_{j}" for j in range(n)]
+        + ["sink"]
+    )
+
+    return edges, supplies, node_names
+
+
+def min_cost_flow_successive_shortest_paths(
+    edges: list[FlowEdge],
+    supplies: NDArray[np.float64],
+    max_iterations: int = 1000,
+) -> MinCostFlowResult:
+    """
+    Solve min-cost flow using successive shortest paths.
+
+    Algorithm:
+    1. While there is excess supply:
+       - Find shortest path from a supply node to a demand node
+       - Push maximum feasible flow along path
+       - Update supplies and residual capacities
+
+    Parameters
+    ----------
+    edges : list[FlowEdge]
+        List of edges with capacities and costs.
+    supplies : ndarray
+        Supply/demand at each node.
+    max_iterations : int, optional
+        Maximum iterations (default 1000).
+
+    Returns
+    -------
+    MinCostFlowResult
+        Solution with flow values, cost, status, and iterations.
+
+    Notes
+    -----
+    This is a simplified implementation using Bellman-Ford for shortest
+    paths. Production code would use more efficient implementations.
+    """
+    n_nodes = len(supplies)
+    n_edges = len(edges)
+
+    # Build adjacency lists for residual graph
+    graph: list[list[tuple[int, int, float]]] = [[] for _ in range(n_nodes)]
+    flow = np.zeros(n_edges)
+    residual_capacity = np.array([e.capacity for e in edges])
+
+    for edge_idx, edge in enumerate(edges):
+        graph[edge.from_node].append((edge.to_node, edge_idx, edge.cost))
+        # Add reverse edge with negative cost
+        graph[edge.to_node].append((edge.from_node, edge_idx, -edge.cost))
+
+    current_supplies = supplies.copy()
+    iteration = 0
+
+    while iteration < max_iterations:
+        # Find a node with excess supply
+        excess_node = None
+        for node in range(n_nodes):
+            if current_supplies[node] > 1e-10:
+                excess_node = node
+                break
+
+        if excess_node is None:
+            break
+
+        # Find a node with deficit
+        deficit_node = None
+        for node in range(n_nodes):
+            if current_supplies[node] < -1e-10:
+                deficit_node = node
+                break
+
+        if deficit_node is None:
+            break
+
+        # Find shortest path using Bellman-Ford relaxation
+        dist = np.full(n_nodes, np.inf)
+        dist[excess_node] = 0.0
+        parent = np.full(n_nodes, -1, dtype=int)
+        parent_edge = np.full(n_nodes, -1, dtype=int)
+
+        for _ in range(n_nodes - 1):
+            for u in range(n_nodes):
+                if dist[u] == np.inf:
+                    continue
+                for v, edge_idx, cost in graph[u]:
+                    if residual_capacity[edge_idx] > 1e-10:
+                        new_dist = dist[u] + cost
+                        if new_dist < dist[v]:
+                            dist[v] = new_dist
+                            parent[v] = u
+                            parent_edge[v] = edge_idx
+
+        if dist[deficit_node] == np.inf:
+            # No path found
+            break
+
+        # Extract path and find bottleneck capacity
+        path_edges = []
+        node = deficit_node
+        while parent[node] != -1:
+            path_edges.append(parent_edge[node])
+            node = parent[node]
+
+        path_edges.reverse()
+
+        # Find minimum capacity along path
+        min_flow = min(residual_capacity[e] for e in path_edges)
+        min_flow = min(
+            min_flow, current_supplies[excess_node], -current_supplies[deficit_node]
+        )
+
+        # Push flow along path
+        total_cost = 0.0
+        for edge_idx in path_edges:
+            flow[edge_idx] += min_flow
+            residual_capacity[edge_idx] -= min_flow
+            total_cost += min_flow * edges[edge_idx].cost
+
+        current_supplies[excess_node] -= min_flow
+        current_supplies[deficit_node] += min_flow
+
+        iteration += 1
+
+    # Compute total cost
+    total_cost = float(np.sum(flow[i] * edges[i].cost for i in range(n_edges)))
+
+    # Determine status
+    if np.allclose(current_supplies, 0):
+        status = FlowStatus.OPTIMAL
+    elif iteration >= max_iterations:
+        status = FlowStatus.TIMEOUT
+    else:
+        status = FlowStatus.INFEASIBLE
+
+    return MinCostFlowResult(
+        flow=flow,
+        cost=total_cost,
+        status=status,
+        iterations=iteration,
+    )
+
+
+def assignment_from_flow_solution(
+    flow: NDArray[np.float64],
+    edges: list[FlowEdge],
+    cost_matrix_shape: Tuple[int, int],
+) -> Tuple[NDArray[np.intp], float]:
+    """
+    Extract assignment from flow network solution.
+
+    Parameters
+    ----------
+    flow : ndarray
+        Flow values on each edge.
+    edges : list[FlowEdge]
+        List of edges used in network.
+    cost_matrix_shape : tuple
+        Shape of original cost matrix (m, n).
+
+    Returns
+    -------
+    assignment : ndarray
+        Assignment array of shape (n_assignments, 2) with [worker, task].
+    cost : float
+        Total assignment cost.
+    """
+    m, n = cost_matrix_shape
+    assignment = []
+
+    for edge_idx, edge in enumerate(edges):
+        # Worker-to-task edges: from_node in [1, m], to_node in [m+1, m+n]
+        if 1 <= edge.from_node <= m and m + 1 <= edge.to_node <= m + n:
+            if flow[edge_idx] > 0.5:  # Flow > 0 (allowing for numerical tolerance)
+                worker_idx = edge.from_node - 1
+                task_idx = edge.to_node - m - 1
+                assignment.append([worker_idx, task_idx])
+
+    assignment = np.array(assignment, dtype=np.intp)
+    cost = 0.0
+    if len(assignment) > 0:
+        cost = float(
+            np.sum(
+                flow[edge_idx] * edges[edge_idx].cost for edge_idx in range(len(edges))
+            )
+        )
+
+    return assignment, cost
+
+
+def min_cost_assignment_via_flow(
+    cost_matrix: NDArray[np.float64],
+) -> Tuple[NDArray[np.intp], float]:
+    """
+    Solve 2D assignment problem via min-cost flow network.
+
+    Parameters
+    ----------
+    cost_matrix : ndarray
+        Cost matrix of shape (m, n).
+
+    Returns
+    -------
+    assignment : ndarray
+        Assignment array of shape (n_assignments, 2).
+    total_cost : float
+        Total assignment cost.
+    """
+    edges, supplies, _ = assignment_to_flow_network(cost_matrix)
+    result = min_cost_flow_successive_shortest_paths(edges, supplies)
+    assignment, cost = assignment_from_flow_solution(
+        result.flow, edges, cost_matrix.shape
+    )
+
+    return assignment, cost

pytcl/assignment_algorithms/three_dimensional/assignment.py

@@ -11,7 +11,7 @@ cost subject to the constraint that each index appears in at most one
 selected tuple.
 """
 
-from typing import List, NamedTuple, Optional, Tuple
+from typing import Any, List, NamedTuple, Optional, Tuple
 
 import numpy as np
 from numpy.typing import ArrayLike, NDArray
@@ -511,7 +511,7 @@ def assign3d_auction(
     assign_i: List[Optional[Tuple[int, int]]] = [None] * n1
 
     # Reverse: which i is assigned to (j, k)
-    reverse: dict = {}
+    reverse: dict[tuple[int, int], int] = {}
 
     converged = False
 
@@ -585,7 +585,7 @@ def assign3d(
     cost_tensor: ArrayLike,
     method: str = "lagrangian",
     maximize: bool = False,
-    **kwargs,
+    **kwargs: Any,
 ) -> Assignment3DResult:
     """
     Solve 3D assignment problem.

pytcl/astronomical/__init__.py

@@ -2,7 +2,8 @@
 Astronomical calculations for target tracking.
 
 This module provides time system conversions, orbital mechanics,
-Lambert problem solvers, and reference frame transformations.
+Lambert problem solvers, reference frame transformations, and high-precision
+ephemerides for celestial bodies.
 
 Examples
 --------
@@ -18,8 +19,19 @@ Examples
 >>> r1 = np.array([5000, 10000, 2100])
 >>> r2 = np.array([-14600, 2500, 7000])
 >>> sol = lambert_universal(r1, r2, 3600)
+
+>>> # Query Sun position with high precision
+>>> from pytcl.astronomical import sun_position
+>>> r_sun, v_sun = sun_position(2451545.0)  # J2000.0
 """
 
+from pytcl.astronomical.ephemerides import (
+    DEEphemeris,
+    barycenter_position,
+    moon_position,
+    planet_position,
+    sun_position,
+)
 from pytcl.astronomical.lambert import (
     LambertSolution,
     bi_elliptic_transfer,
@@ -28,8 +40,10 @@ from pytcl.astronomical.lambert import (
     lambert_universal,
     minimum_energy_transfer,
 )
-from pytcl.astronomical.orbital_mechanics import (  # Constants; Types; Anomaly conversions; Element conversions; Propagation; Orbital quantities
-    GM_EARTH,
+from pytcl.astronomical.orbital_mechanics import (
+    GM_EARTH,  # Constants; Types; Anomaly conversions; Element conversions; Propagation; Orbital quantities
+)
+from pytcl.astronomical.orbital_mechanics import (
     GM_JUPITER,
     GM_MARS,
     GM_MOON,
@@ -62,29 +76,88 @@ from pytcl.astronomical.orbital_mechanics import (  # Constants; Types; Anomaly
     true_to_mean_anomaly,
     vis_viva,
 )
-from pytcl.astronomical.reference_frames import (  # Time utilities; Precession; Nutation; Earth rotation; Polar motion; Full transformations; Ecliptic/equatorial
-    earth_rotation_angle,
-    ecef_to_eci,
+from pytcl.astronomical.reference_frames import (
+    earth_rotation_angle,  # Time utilities; Precession; Nutation
+)
+from pytcl.astronomical.reference_frames import ecef_to_eci  # Time utilities
+from pytcl.astronomical.reference_frames import (
     eci_to_ecef,
     ecliptic_to_equatorial,
     equation_of_equinoxes,
     equatorial_to_ecliptic,
     gast_iau82,
     gcrf_to_itrf,
+    gcrf_to_mod,
+    gcrf_to_teme,
+    gcrf_to_tod,
     gmst_iau82,
     itrf_to_gcrf,
+    itrf_to_teme,
+    itrf_to_teme_with_velocity,
+    itrf_to_tod,
     julian_centuries_j2000,
     mean_obliquity_iau80,
+    mod_to_gcrf,
+    mod_to_tod,
     nutation_angles_iau80,
     nutation_matrix,
+    pef_to_teme,
     polar_motion_matrix,
     precession_angles_iau76,
     precession_matrix_iau76,
     sidereal_rotation_matrix,
+    teme_to_gcrf,
+    teme_to_itrf,
+    teme_to_itrf_with_velocity,
+    teme_to_pef,
+    tod_to_gcrf,
+    tod_to_itrf,
+    tod_to_mod,
     true_obliquity,
 )
-from pytcl.astronomical.time_systems import (  # Julian dates; Time scales; Unix time; GPS week; Sidereal time; Leap seconds; Constants
-    JD_GPS_EPOCH,
+from pytcl.astronomical.relativity import (
+    C_LIGHT,  # Physical constants; Schwarzschild metric; Time dilation
+)
+from pytcl.astronomical.relativity import (
+    G_GRAV,
+    geodetic_precession,
+    gravitational_time_dilation,
+    lense_thirring_precession,
+    post_newtonian_acceleration,
+    proper_time_rate,
+    relativistic_range_correction,
+    schwarzschild_precession_per_orbit,
+    schwarzschild_radius,
+    shapiro_delay,
+)
+from pytcl.astronomical.sgp4 import (
+    SGP4Satellite,
+    SGP4State,
+    sgp4_propagate,
+    sgp4_propagate_batch,
+)
+from pytcl.astronomical.special_orbits import (
+    OrbitType,
+    classify_orbit,
+    eccentricity_vector,
+    escape_velocity_at_radius,
+    hyperbolic_anomaly_to_true_anomaly,
+    hyperbolic_asymptote_angle,
+    hyperbolic_deflection_angle,
+    hyperbolic_excess_velocity,
+    mean_to_parabolic_anomaly,
+    mean_to_true_anomaly_parabolic,
+    parabolic_anomaly_to_true_anomaly,
+    radius_parabolic,
+    semi_major_axis_from_energy,
+    true_anomaly_to_hyperbolic_anomaly,
+    true_anomaly_to_parabolic_anomaly,
+    velocity_parabolic,
+)
+from pytcl.astronomical.time_systems import (
+    JD_GPS_EPOCH,  # Julian dates; Time scales; Unix time; GPS week; Sidereal time; Leap seconds; Constants
+)
+from pytcl.astronomical.time_systems import (
     JD_J2000,
     JD_UNIX_EPOCH,
     MJD_OFFSET,
@@ -112,6 +185,17 @@ from pytcl.astronomical.time_systems import (  # Julian dates; Time scales; Unix
     utc_to_tai,
     utc_to_tt,
 )
+from pytcl.astronomical.tle import (
+    TLE,
+    format_tle,
+    is_deep_space,
+    orbital_period_from_tle,
+    parse_tle,
+    parse_tle_3line,
+    semi_major_axis_from_mean_motion,
+    tle_epoch_to_datetime,
+    tle_epoch_to_jd,
+)
 
 __all__ = [
     # Time systems - Julian dates
@@ -218,4 +302,74 @@ __all__ = [
     # Reference frames - Ecliptic/equatorial
     "ecliptic_to_equatorial",
     "equatorial_to_ecliptic",
+    # Reference frames - TEME (for SGP4/SDP4)
+    "teme_to_pef",
+    "pef_to_teme",
+    "teme_to_itrf",
+    "itrf_to_teme",
+    "teme_to_gcrf",
+    "gcrf_to_teme",
+    "teme_to_itrf_with_velocity",
+    "itrf_to_teme_with_velocity",
+    # Reference frames - TOD/MOD (legacy conventions)
+    "gcrf_to_mod",
+    "mod_to_gcrf",
+    "gcrf_to_tod",
+    "tod_to_gcrf",
+    "mod_to_tod",
+    "tod_to_mod",
+    "tod_to_itrf",
+    "itrf_to_tod",
+    # TLE parsing
+    "TLE",
+    "parse_tle",
+    "parse_tle_3line",
+    "tle_epoch_to_jd",
+    "tle_epoch_to_datetime",
+    "format_tle",
+    "is_deep_space",
+    "semi_major_axis_from_mean_motion",
+    "orbital_period_from_tle",
+    # SGP4/SDP4 propagation
+    "SGP4State",
+    "SGP4Satellite",
+    "sgp4_propagate",
+    "sgp4_propagate_batch",
+    # Ephemerides - Classes
+    "DEEphemeris",
+    # Ephemerides - Functions
+    "sun_position",
+    "moon_position",
+    "planet_position",
+    "barycenter_position",
+    # Relativity - Constants
+    "C_LIGHT",
+    "G_GRAV",
+    # Relativity - Functions
+    "schwarzschild_radius",
+    "gravitational_time_dilation",
+    "proper_time_rate",
+    "shapiro_delay",
+    "schwarzschild_precession_per_orbit",
+    "post_newtonian_acceleration",
+    "geodetic_precession",
+    "lense_thirring_precession",
+    "relativistic_range_correction",
+    # Special orbits - Parabolic and hyperbolic
+    "OrbitType",
+    "classify_orbit",
+    "mean_to_parabolic_anomaly",
+    "parabolic_anomaly_to_true_anomaly",
+    "true_anomaly_to_parabolic_anomaly",
+    "mean_to_true_anomaly_parabolic",
+    "radius_parabolic",
+    "velocity_parabolic",
+    "hyperbolic_anomaly_to_true_anomaly",
+    "true_anomaly_to_hyperbolic_anomaly",
+    "escape_velocity_at_radius",
+    "hyperbolic_excess_velocity",
+    "semi_major_axis_from_energy",
+    "hyperbolic_asymptote_angle",
+    "hyperbolic_deflection_angle",
+    "eccentricity_vector",
 ]