nrl-tracker 0.22.0__py3-none-any.whl → 0.22.1__py3-none-any.whl

pytcl/dynamic_estimation/__init__.py

@@ -12,97 +12,106 @@ This module provides filtering and smoothing algorithms for state estimation:
 """
 
 # Import submodules for easy access
-from pytcl.dynamic_estimation import kalman
-from pytcl.dynamic_estimation import particle_filters
+from pytcl.dynamic_estimation import kalman, particle_filters
 
 # IMM estimator
-from pytcl.dynamic_estimation.imm import IMMEstimator
-from pytcl.dynamic_estimation.imm import IMMPrediction
-from pytcl.dynamic_estimation.imm import IMMState
-from pytcl.dynamic_estimation.imm import IMMUpdate
-from pytcl.dynamic_estimation.imm import imm_predict
-from pytcl.dynamic_estimation.imm import imm_predict_update
-from pytcl.dynamic_estimation.imm import imm_update
+from pytcl.dynamic_estimation.imm import (
+    IMMEstimator,
+    IMMPrediction,
+    IMMState,
+    IMMUpdate,
+    imm_predict,
+    imm_predict_update,
+    imm_update,
+)
 
 # Information filter
-from pytcl.dynamic_estimation.information_filter import InformationFilterResult
-from pytcl.dynamic_estimation.information_filter import InformationState
-from pytcl.dynamic_estimation.information_filter import SRIFResult
-from pytcl.dynamic_estimation.information_filter import SRIFState
-from pytcl.dynamic_estimation.information_filter import fuse_information
-from pytcl.dynamic_estimation.information_filter import information_filter
-from pytcl.dynamic_estimation.information_filter import information_to_state
-from pytcl.dynamic_estimation.information_filter import srif_filter
-from pytcl.dynamic_estimation.information_filter import srif_predict
-from pytcl.dynamic_estimation.information_filter import srif_update
-from pytcl.dynamic_estimation.information_filter import state_to_information
+from pytcl.dynamic_estimation.information_filter import (
+    InformationFilterResult,
+    InformationState,
+    SRIFResult,
+    SRIFState,
+    fuse_information,
+    information_filter,
+    information_to_state,
+    srif_filter,
+    srif_predict,
+    srif_update,
+    state_to_information,
+)
 
 # Square-root Kalman filters
 # Cubature Kalman filter
 # Unscented Kalman filter
 # Extended Kalman filter
 # Linear Kalman filter
-from pytcl.dynamic_estimation.kalman import KalmanPrediction
-from pytcl.dynamic_estimation.kalman import KalmanState
-from pytcl.dynamic_estimation.kalman import KalmanUpdate
-from pytcl.dynamic_estimation.kalman import SigmaPoints
-from pytcl.dynamic_estimation.kalman import SRKalmanPrediction
-from pytcl.dynamic_estimation.kalman import SRKalmanState
-from pytcl.dynamic_estimation.kalman import SRKalmanUpdate
-from pytcl.dynamic_estimation.kalman import UDState
-from pytcl.dynamic_estimation.kalman import ckf_predict
-from pytcl.dynamic_estimation.kalman import ckf_spherical_cubature_points
-from pytcl.dynamic_estimation.kalman import ckf_update
-from pytcl.dynamic_estimation.kalman import ekf_predict
-from pytcl.dynamic_estimation.kalman import ekf_predict_auto
-from pytcl.dynamic_estimation.kalman import ekf_update
-from pytcl.dynamic_estimation.kalman import ekf_update_auto
-from pytcl.dynamic_estimation.kalman import information_filter_predict
-from pytcl.dynamic_estimation.kalman import information_filter_update
-from pytcl.dynamic_estimation.kalman import iterated_ekf_update
-from pytcl.dynamic_estimation.kalman import kf_predict
-from pytcl.dynamic_estimation.kalman import kf_predict_update
-from pytcl.dynamic_estimation.kalman import kf_smooth
-from pytcl.dynamic_estimation.kalman import kf_update
-from pytcl.dynamic_estimation.kalman import numerical_jacobian
-from pytcl.dynamic_estimation.kalman import sigma_points_julier
-from pytcl.dynamic_estimation.kalman import sigma_points_merwe
-from pytcl.dynamic_estimation.kalman import sr_ukf_predict
-from pytcl.dynamic_estimation.kalman import sr_ukf_update
-from pytcl.dynamic_estimation.kalman import srkf_predict
-from pytcl.dynamic_estimation.kalman import srkf_predict_update
-from pytcl.dynamic_estimation.kalman import srkf_update
-from pytcl.dynamic_estimation.kalman import ud_factorize
-from pytcl.dynamic_estimation.kalman import ud_predict
-from pytcl.dynamic_estimation.kalman import ud_reconstruct
-from pytcl.dynamic_estimation.kalman import ud_update
-from pytcl.dynamic_estimation.kalman import ukf_predict
-from pytcl.dynamic_estimation.kalman import ukf_update
-from pytcl.dynamic_estimation.kalman import unscented_transform
+from pytcl.dynamic_estimation.kalman import (
+    KalmanPrediction,
+    KalmanState,
+    KalmanUpdate,
+    SigmaPoints,
+    SRKalmanPrediction,
+    SRKalmanState,
+    SRKalmanUpdate,
+    UDState,
+    ckf_predict,
+    ckf_spherical_cubature_points,
+    ckf_update,
+    ekf_predict,
+    ekf_predict_auto,
+    ekf_update,
+    ekf_update_auto,
+    information_filter_predict,
+    information_filter_update,
+    iterated_ekf_update,
+    kf_predict,
+    kf_predict_update,
+    kf_smooth,
+    kf_update,
+    numerical_jacobian,
+    sigma_points_julier,
+    sigma_points_merwe,
+    sr_ukf_predict,
+    sr_ukf_update,
+    srkf_predict,
+    srkf_predict_update,
+    srkf_update,
+    ud_factorize,
+    ud_predict,
+    ud_reconstruct,
+    ud_update,
+    ukf_predict,
+    ukf_update,
+    unscented_transform,
+)
 
 # Particle filters
-from pytcl.dynamic_estimation.particle_filters import ParticleState
-from pytcl.dynamic_estimation.particle_filters import bootstrap_pf_predict
-from pytcl.dynamic_estimation.particle_filters import bootstrap_pf_step
-from pytcl.dynamic_estimation.particle_filters import bootstrap_pf_update
-from pytcl.dynamic_estimation.particle_filters import effective_sample_size
-from pytcl.dynamic_estimation.particle_filters import gaussian_likelihood
-from pytcl.dynamic_estimation.particle_filters import initialize_particles
-from pytcl.dynamic_estimation.particle_filters import particle_covariance
-from pytcl.dynamic_estimation.particle_filters import particle_mean
-from pytcl.dynamic_estimation.particle_filters import resample_multinomial
-from pytcl.dynamic_estimation.particle_filters import resample_residual
-from pytcl.dynamic_estimation.particle_filters import resample_systematic
+from pytcl.dynamic_estimation.particle_filters import (
+    ParticleState,
+    bootstrap_pf_predict,
+    bootstrap_pf_step,
+    bootstrap_pf_update,
+    effective_sample_size,
+    gaussian_likelihood,
+    initialize_particles,
+    particle_covariance,
+    particle_mean,
+    resample_multinomial,
+    resample_residual,
+    resample_systematic,
+)
 
 # Smoothers
-from pytcl.dynamic_estimation.smoothers import FixedLagResult
-from pytcl.dynamic_estimation.smoothers import RTSResult
-from pytcl.dynamic_estimation.smoothers import SmoothedState
-from pytcl.dynamic_estimation.smoothers import fixed_interval_smoother
-from pytcl.dynamic_estimation.smoothers import fixed_lag_smoother
-from pytcl.dynamic_estimation.smoothers import rts_smoother
-from pytcl.dynamic_estimation.smoothers import rts_smoother_single_step
-from pytcl.dynamic_estimation.smoothers import two_filter_smoother
+from pytcl.dynamic_estimation.smoothers import (
+    FixedLagResult,
+    RTSResult,
+    SmoothedState,
+    fixed_interval_smoother,
+    fixed_lag_smoother,
+    rts_smoother,
+    rts_smoother_single_step,
+    two_filter_smoother,
+)
 
 # Re-export commonly used functions at the top level
 

pytcl/dynamic_estimation/imm.py

@@ -12,16 +12,12 @@ The IMM algorithm consists of four steps:
 4. Output combination
 """
 
-from typing import List
-from typing import NamedTuple
-from typing import Optional
+from typing import List, NamedTuple, Optional
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
-from pytcl.dynamic_estimation.kalman.linear import kf_predict
-from pytcl.dynamic_estimation.kalman.linear import kf_update
+from pytcl.dynamic_estimation.kalman.linear import kf_predict, kf_update
 
 
 class IMMState(NamedTuple):

pytcl/dynamic_estimation/information_filter.py

@@ -16,17 +16,15 @@ This module provides:
 - Square-Root Information Filter (SRIF) for improved numerical stability
 """
 
-from typing import List
-from typing import NamedTuple
-from typing import Optional
-from typing import Tuple
+from typing import List, NamedTuple, Optional, Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
-from pytcl.dynamic_estimation.kalman.linear import information_filter_predict
-from pytcl.dynamic_estimation.kalman.linear import information_filter_update
+from pytcl.dynamic_estimation.kalman.linear import (
+    information_filter_predict,
+    information_filter_update,
+)
 
 
 class InformationState(NamedTuple):

pytcl/dynamic_estimation/kalman/__init__.py

@@ -11,46 +11,54 @@ This module provides:
 - U-D factorization filter (Bierman's method)
 """
 
-from pytcl.dynamic_estimation.kalman.extended import ekf_predict
-from pytcl.dynamic_estimation.kalman.extended import ekf_predict_auto
-from pytcl.dynamic_estimation.kalman.extended import ekf_update
-from pytcl.dynamic_estimation.kalman.extended import ekf_update_auto
-from pytcl.dynamic_estimation.kalman.extended import iterated_ekf_update
-from pytcl.dynamic_estimation.kalman.extended import numerical_jacobian
-from pytcl.dynamic_estimation.kalman.linear import KalmanPrediction
-from pytcl.dynamic_estimation.kalman.linear import KalmanState
-from pytcl.dynamic_estimation.kalman.linear import KalmanUpdate
-from pytcl.dynamic_estimation.kalman.linear import information_filter_predict
-from pytcl.dynamic_estimation.kalman.linear import information_filter_update
-from pytcl.dynamic_estimation.kalman.linear import kf_predict
-from pytcl.dynamic_estimation.kalman.linear import kf_predict_update
-from pytcl.dynamic_estimation.kalman.linear import kf_smooth
-from pytcl.dynamic_estimation.kalman.linear import kf_update
-from pytcl.dynamic_estimation.kalman.square_root import SRKalmanPrediction
-from pytcl.dynamic_estimation.kalman.square_root import SRKalmanState
-from pytcl.dynamic_estimation.kalman.square_root import SRKalmanUpdate
-from pytcl.dynamic_estimation.kalman.square_root import UDState
-from pytcl.dynamic_estimation.kalman.square_root import cholesky_update
-from pytcl.dynamic_estimation.kalman.square_root import qr_update
-from pytcl.dynamic_estimation.kalman.square_root import sr_ukf_predict
-from pytcl.dynamic_estimation.kalman.square_root import sr_ukf_update
-from pytcl.dynamic_estimation.kalman.square_root import srkf_predict
-from pytcl.dynamic_estimation.kalman.square_root import srkf_predict_update
-from pytcl.dynamic_estimation.kalman.square_root import srkf_update
-from pytcl.dynamic_estimation.kalman.square_root import ud_factorize
-from pytcl.dynamic_estimation.kalman.square_root import ud_predict
-from pytcl.dynamic_estimation.kalman.square_root import ud_reconstruct
-from pytcl.dynamic_estimation.kalman.square_root import ud_update
-from pytcl.dynamic_estimation.kalman.square_root import ud_update_scalar
-from pytcl.dynamic_estimation.kalman.unscented import SigmaPoints
-from pytcl.dynamic_estimation.kalman.unscented import ckf_predict
-from pytcl.dynamic_estimation.kalman.unscented import ckf_spherical_cubature_points
-from pytcl.dynamic_estimation.kalman.unscented import ckf_update
-from pytcl.dynamic_estimation.kalman.unscented import sigma_points_julier
-from pytcl.dynamic_estimation.kalman.unscented import sigma_points_merwe
-from pytcl.dynamic_estimation.kalman.unscented import ukf_predict
-from pytcl.dynamic_estimation.kalman.unscented import ukf_update
-from pytcl.dynamic_estimation.kalman.unscented import unscented_transform
+from pytcl.dynamic_estimation.kalman.extended import (
+    ekf_predict,
+    ekf_predict_auto,
+    ekf_update,
+    ekf_update_auto,
+    iterated_ekf_update,
+    numerical_jacobian,
+)
+from pytcl.dynamic_estimation.kalman.linear import (
+    KalmanPrediction,
+    KalmanState,
+    KalmanUpdate,
+    information_filter_predict,
+    information_filter_update,
+    kf_predict,
+    kf_predict_update,
+    kf_smooth,
+    kf_update,
+)
+from pytcl.dynamic_estimation.kalman.square_root import (
+    SRKalmanPrediction,
+    SRKalmanState,
+    SRKalmanUpdate,
+    UDState,
+    cholesky_update,
+    qr_update,
+    sr_ukf_predict,
+    sr_ukf_update,
+    srkf_predict,
+    srkf_predict_update,
+    srkf_update,
+    ud_factorize,
+    ud_predict,
+    ud_reconstruct,
+    ud_update,
+    ud_update_scalar,
+)
+from pytcl.dynamic_estimation.kalman.unscented import (
+    SigmaPoints,
+    ckf_predict,
+    ckf_spherical_cubature_points,
+    ckf_update,
+    sigma_points_julier,
+    sigma_points_merwe,
+    ukf_predict,
+    ukf_update,
+    unscented_transform,
+)
 
 __all__ = [
     # Linear KF

pytcl/dynamic_estimation/kalman/extended.py

@@ -8,11 +8,9 @@ around the current state estimate using Jacobians.
 from typing import Callable
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
-from pytcl.dynamic_estimation.kalman.linear import KalmanPrediction
-from pytcl.dynamic_estimation.kalman.linear import KalmanUpdate
+from pytcl.dynamic_estimation.kalman.linear import KalmanPrediction, KalmanUpdate
 
 
 def ekf_predict(

pytcl/dynamic_estimation/kalman/linear.py

@@ -5,15 +5,11 @@ This module provides the standard linear Kalman filter for systems with
 linear dynamics and linear measurements with Gaussian noise.
 """
 
-from typing import NamedTuple
-from typing import Optional
-from typing import Tuple
+from typing import NamedTuple, Optional, Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
-from scipy.linalg import cho_factor
-from scipy.linalg import cho_solve
+from numpy.typing import ArrayLike, NDArray
+from scipy.linalg import cho_factor, cho_solve
 
 
 class KalmanState(NamedTuple):

pytcl/dynamic_estimation/kalman/square_root.py

@@ -12,14 +12,11 @@ Implementations include:
 - Square-root versions of UKF and CKF
 """
 
-from typing import Callable
-from typing import NamedTuple
-from typing import Optional
+from typing import Callable, NamedTuple, Optional
 
 import numpy as np
 import scipy.linalg
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
 
 class SRKalmanState(NamedTuple):

pytcl/dynamic_estimation/kalman/unscented.py

@@ -5,17 +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
-from typing import NamedTuple
-from typing import Optional
-from typing import Tuple
+from typing import Callable, NamedTuple, Optional, Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
-from pytcl.dynamic_estimation.kalman.linear import KalmanPrediction
-from pytcl.dynamic_estimation.kalman.linear import KalmanUpdate
+from pytcl.dynamic_estimation.kalman.linear import KalmanPrediction, KalmanUpdate
 
 
 class SigmaPoints(NamedTuple):

pytcl/dynamic_estimation/particle_filters/__init__.py

@@ -7,18 +7,20 @@ This module provides:
 - Particle statistics (mean, covariance, ESS)
 """
 
-from pytcl.dynamic_estimation.particle_filters.bootstrap import ParticleState
-from pytcl.dynamic_estimation.particle_filters.bootstrap import bootstrap_pf_predict
-from pytcl.dynamic_estimation.particle_filters.bootstrap import bootstrap_pf_step
-from pytcl.dynamic_estimation.particle_filters.bootstrap import bootstrap_pf_update
-from pytcl.dynamic_estimation.particle_filters.bootstrap import effective_sample_size
-from pytcl.dynamic_estimation.particle_filters.bootstrap import gaussian_likelihood
-from pytcl.dynamic_estimation.particle_filters.bootstrap import initialize_particles
-from pytcl.dynamic_estimation.particle_filters.bootstrap import particle_covariance
-from pytcl.dynamic_estimation.particle_filters.bootstrap import particle_mean
-from pytcl.dynamic_estimation.particle_filters.bootstrap import resample_multinomial
-from pytcl.dynamic_estimation.particle_filters.bootstrap import resample_residual
-from pytcl.dynamic_estimation.particle_filters.bootstrap import resample_systematic
+from pytcl.dynamic_estimation.particle_filters.bootstrap import (
+    ParticleState,
+    bootstrap_pf_predict,
+    bootstrap_pf_step,
+    bootstrap_pf_update,
+    effective_sample_size,
+    gaussian_likelihood,
+    initialize_particles,
+    particle_covariance,
+    particle_mean,
+    resample_multinomial,
+    resample_residual,
+    resample_systematic,
+)
 
 __all__ = [
     "ParticleState",

pytcl/dynamic_estimation/particle_filters/bootstrap.py

@@ -5,15 +5,11 @@ This module provides particle filtering algorithms for nonlinear/non-Gaussian
 state estimation.
 """
 
-from typing import Callable
-from typing import NamedTuple
-from typing import Optional
-from typing import Tuple
+from typing import Callable, NamedTuple, Optional, Tuple
 
 import numpy as np
 from numba import njit
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
 
 class ParticleState(NamedTuple):

pytcl/dynamic_estimation/smoothers.py

@@ -12,17 +12,12 @@ The main algorithms are:
 - Two-filter smoother for parallel processing
 """
 
-from typing import List
-from typing import NamedTuple
-from typing import Optional
+from typing import List, NamedTuple, Optional
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
-from pytcl.dynamic_estimation.kalman.linear import kf_predict
-from pytcl.dynamic_estimation.kalman.linear import kf_smooth
-from pytcl.dynamic_estimation.kalman.linear import kf_update
+from pytcl.dynamic_estimation.kalman.linear import kf_predict, kf_smooth, kf_update
 
 
 class SmoothedState(NamedTuple):

pytcl/dynamic_models/__init__.py

@@ -14,49 +14,53 @@ and utilities for discretizing continuous-time models.
 """
 
 # Import submodules for easy access
-from pytcl.dynamic_models import continuous_time
-from pytcl.dynamic_models import discrete_time
-from pytcl.dynamic_models import process_noise
+from pytcl.dynamic_models import continuous_time, discrete_time, process_noise
 
 # Continuous-time dynamics
-from pytcl.dynamic_models.continuous_time import continuous_to_discrete
-from pytcl.dynamic_models.continuous_time import diffusion_constant_acceleration
-from pytcl.dynamic_models.continuous_time import diffusion_constant_velocity
-from pytcl.dynamic_models.continuous_time import diffusion_singer
-from pytcl.dynamic_models.continuous_time import discretize_lti
-from pytcl.dynamic_models.continuous_time import drift_constant_acceleration
-from pytcl.dynamic_models.continuous_time import drift_constant_velocity
-from pytcl.dynamic_models.continuous_time import drift_coordinated_turn_2d
-from pytcl.dynamic_models.continuous_time import drift_singer
-from pytcl.dynamic_models.continuous_time import state_jacobian_ca
-from pytcl.dynamic_models.continuous_time import state_jacobian_cv
-from pytcl.dynamic_models.continuous_time import state_jacobian_singer
+from pytcl.dynamic_models.continuous_time import (
+    continuous_to_discrete,
+    diffusion_constant_acceleration,
+    diffusion_constant_velocity,
+    diffusion_singer,
+    discretize_lti,
+    drift_constant_acceleration,
+    drift_constant_velocity,
+    drift_coordinated_turn_2d,
+    drift_singer,
+    state_jacobian_ca,
+    state_jacobian_cv,
+    state_jacobian_singer,
+)
 
 # Discrete-time state transition matrices
-from pytcl.dynamic_models.discrete_time import f_constant_acceleration
-from pytcl.dynamic_models.discrete_time import f_constant_velocity
-from pytcl.dynamic_models.discrete_time import f_coord_turn_2d
-from pytcl.dynamic_models.discrete_time import f_coord_turn_3d
-from pytcl.dynamic_models.discrete_time import f_coord_turn_polar
-from pytcl.dynamic_models.discrete_time import f_discrete_white_noise_accel
-from pytcl.dynamic_models.discrete_time import f_piecewise_white_noise_jerk
-from pytcl.dynamic_models.discrete_time import f_poly_kal
-from pytcl.dynamic_models.discrete_time import f_singer
-from pytcl.dynamic_models.discrete_time import f_singer_2d
-from pytcl.dynamic_models.discrete_time import f_singer_3d
+from pytcl.dynamic_models.discrete_time import (
+    f_constant_acceleration,
+    f_constant_velocity,
+    f_coord_turn_2d,
+    f_coord_turn_3d,
+    f_coord_turn_polar,
+    f_discrete_white_noise_accel,
+    f_piecewise_white_noise_jerk,
+    f_poly_kal,
+    f_singer,
+    f_singer_2d,
+    f_singer_3d,
+)
 
 # Process noise covariance matrices
-from pytcl.dynamic_models.process_noise import q_constant_acceleration
-from pytcl.dynamic_models.process_noise import q_constant_velocity
-from pytcl.dynamic_models.process_noise import q_continuous_white_noise
-from pytcl.dynamic_models.process_noise import q_coord_turn_2d
-from pytcl.dynamic_models.process_noise import q_coord_turn_3d
-from pytcl.dynamic_models.process_noise import q_coord_turn_polar
-from pytcl.dynamic_models.process_noise import q_discrete_white_noise
-from pytcl.dynamic_models.process_noise import q_poly_kal
-from pytcl.dynamic_models.process_noise import q_singer
-from pytcl.dynamic_models.process_noise import q_singer_2d
-from pytcl.dynamic_models.process_noise import q_singer_3d
+from pytcl.dynamic_models.process_noise import (
+    q_constant_acceleration,
+    q_constant_velocity,
+    q_continuous_white_noise,
+    q_coord_turn_2d,
+    q_coord_turn_3d,
+    q_coord_turn_polar,
+    q_discrete_white_noise,
+    q_poly_kal,
+    q_singer,
+    q_singer_2d,
+    q_singer_3d,
+)
 
 # Re-export commonly used functions at the top level
 

pytcl/dynamic_models/continuous_time/__init__.py

@@ -5,20 +5,20 @@ This module provides drift and diffusion functions for continuous-time
 stochastic differential equations, as well as utilities for discretization.
 """
 
-from pytcl.dynamic_models.continuous_time.dynamics import continuous_to_discrete
 from pytcl.dynamic_models.continuous_time.dynamics import (
+    continuous_to_discrete,
     diffusion_constant_acceleration,
+    diffusion_constant_velocity,
+    diffusion_singer,
+    discretize_lti,
+    drift_constant_acceleration,
+    drift_constant_velocity,
+    drift_coordinated_turn_2d,
+    drift_singer,
+    state_jacobian_ca,
+    state_jacobian_cv,
+    state_jacobian_singer,
 )
-from pytcl.dynamic_models.continuous_time.dynamics import diffusion_constant_velocity
-from pytcl.dynamic_models.continuous_time.dynamics import diffusion_singer
-from pytcl.dynamic_models.continuous_time.dynamics import discretize_lti
-from pytcl.dynamic_models.continuous_time.dynamics import drift_constant_acceleration
-from pytcl.dynamic_models.continuous_time.dynamics import drift_constant_velocity
-from pytcl.dynamic_models.continuous_time.dynamics import drift_coordinated_turn_2d
-from pytcl.dynamic_models.continuous_time.dynamics import drift_singer
-from pytcl.dynamic_models.continuous_time.dynamics import state_jacobian_ca
-from pytcl.dynamic_models.continuous_time.dynamics import state_jacobian_cv
-from pytcl.dynamic_models.continuous_time.dynamics import state_jacobian_singer
 
 __all__ = [
     # Drift functions

pytcl/dynamic_models/continuous_time/dynamics.py

@@ -9,13 +9,11 @@ stochastic differential equations of the form:
 where W is a Wiener process.
 """
 
-from typing import Optional
-from typing import Tuple
+from typing import Optional, Tuple
 
 import numpy as np
 import scipy.linalg
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
 
 def drift_constant_velocity(

pytcl/dynamic_models/discrete_time/__init__.py

@@ -5,17 +5,19 @@ This module provides state transition matrices (F) for various motion models
 used in target tracking applications.
 """
 
-from pytcl.dynamic_models.discrete_time.coordinated_turn import f_coord_turn_2d
-from pytcl.dynamic_models.discrete_time.coordinated_turn import f_coord_turn_3d
-from pytcl.dynamic_models.discrete_time.coordinated_turn import f_coord_turn_polar
-from pytcl.dynamic_models.discrete_time.polynomial import f_constant_acceleration
-from pytcl.dynamic_models.discrete_time.polynomial import f_constant_velocity
-from pytcl.dynamic_models.discrete_time.polynomial import f_discrete_white_noise_accel
-from pytcl.dynamic_models.discrete_time.polynomial import f_piecewise_white_noise_jerk
-from pytcl.dynamic_models.discrete_time.polynomial import f_poly_kal
-from pytcl.dynamic_models.discrete_time.singer import f_singer
-from pytcl.dynamic_models.discrete_time.singer import f_singer_2d
-from pytcl.dynamic_models.discrete_time.singer import f_singer_3d
+from pytcl.dynamic_models.discrete_time.coordinated_turn import (
+    f_coord_turn_2d,
+    f_coord_turn_3d,
+    f_coord_turn_polar,
+)
+from pytcl.dynamic_models.discrete_time.polynomial import (
+    f_constant_acceleration,
+    f_constant_velocity,
+    f_discrete_white_noise_accel,
+    f_piecewise_white_noise_jerk,
+    f_poly_kal,
+)
+from pytcl.dynamic_models.discrete_time.singer import f_singer, f_singer_2d, f_singer_3d
 
 __all__ = [
     # Polynomial models