nrl-tracker 0.22.0__py3-none-any.whl → 0.22.2__py3-none-any.whl

pytcl/mathematical_functions/statistics/distributions.py

@@ -6,16 +6,12 @@ for PDF, CDF, sampling, and moment calculations. These wrap scipy.stats
 distributions with additional functionality useful for tracking applications.
 """
 
-from abc import ABC
-from abc import abstractmethod
-from typing import Optional
-from typing import Tuple
-from typing import Union
+from abc import ABC, abstractmethod
+from typing import Optional, Tuple, Union
 
 import numpy as np
 import scipy.stats as stats
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
 
 class Distribution(ABC):
@@ -565,8 +561,7 @@ class VonMises(Distribution):
 
     def var(self) -> float:
         # Circular variance: 1 - I_1(kappa)/I_0(kappa)
-        from scipy.special import i0
-        from scipy.special import i1
+        from scipy.special import i0, i1
 
         return 1 - i1(self._kappa) / i0(self._kappa)
 

pytcl/mathematical_functions/statistics/estimators.py

@@ -8,8 +8,7 @@ robust estimators, and related quantities used in tracking applications.
 from typing import Optional
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
 
 def weighted_mean(

pytcl/mathematical_functions/transforms/__init__.py

@@ -7,51 +7,57 @@ This module provides signal transforms for time-frequency analysis:
 - Wavelet transforms (CWT and DWT)
 """
 
-from pytcl.mathematical_functions.transforms.fourier import CoherenceResult
-from pytcl.mathematical_functions.transforms.fourier import CrossSpectrum
-from pytcl.mathematical_functions.transforms.fourier import PowerSpectrum
-from pytcl.mathematical_functions.transforms.fourier import coherence
-from pytcl.mathematical_functions.transforms.fourier import cross_spectrum
-from pytcl.mathematical_functions.transforms.fourier import fft
-from pytcl.mathematical_functions.transforms.fourier import fft2
-from pytcl.mathematical_functions.transforms.fourier import fftshift
-from pytcl.mathematical_functions.transforms.fourier import frequency_axis
-from pytcl.mathematical_functions.transforms.fourier import ifft
-from pytcl.mathematical_functions.transforms.fourier import ifft2
-from pytcl.mathematical_functions.transforms.fourier import ifftshift
-from pytcl.mathematical_functions.transforms.fourier import irfft
-from pytcl.mathematical_functions.transforms.fourier import magnitude_spectrum
-from pytcl.mathematical_functions.transforms.fourier import periodogram
-from pytcl.mathematical_functions.transforms.fourier import phase_spectrum
-from pytcl.mathematical_functions.transforms.fourier import power_spectrum
-from pytcl.mathematical_functions.transforms.fourier import rfft
-from pytcl.mathematical_functions.transforms.fourier import rfft_frequency_axis
-from pytcl.mathematical_functions.transforms.stft import Spectrogram
-from pytcl.mathematical_functions.transforms.stft import STFTResult
-from pytcl.mathematical_functions.transforms.stft import get_window
-from pytcl.mathematical_functions.transforms.stft import istft
-from pytcl.mathematical_functions.transforms.stft import mel_spectrogram
-from pytcl.mathematical_functions.transforms.stft import reassigned_spectrogram
-from pytcl.mathematical_functions.transforms.stft import spectrogram
-from pytcl.mathematical_functions.transforms.stft import stft
-from pytcl.mathematical_functions.transforms.stft import window_bandwidth
-from pytcl.mathematical_functions.transforms.wavelets import PYWT_AVAILABLE
-from pytcl.mathematical_functions.transforms.wavelets import CWTResult
-from pytcl.mathematical_functions.transforms.wavelets import DWTResult
-from pytcl.mathematical_functions.transforms.wavelets import available_wavelets
-from pytcl.mathematical_functions.transforms.wavelets import cwt
-from pytcl.mathematical_functions.transforms.wavelets import dwt
-from pytcl.mathematical_functions.transforms.wavelets import dwt_single_level
-from pytcl.mathematical_functions.transforms.wavelets import frequencies_to_scales
-from pytcl.mathematical_functions.transforms.wavelets import gaussian_wavelet
-from pytcl.mathematical_functions.transforms.wavelets import idwt
-from pytcl.mathematical_functions.transforms.wavelets import idwt_single_level
-from pytcl.mathematical_functions.transforms.wavelets import morlet_wavelet
-from pytcl.mathematical_functions.transforms.wavelets import ricker_wavelet
-from pytcl.mathematical_functions.transforms.wavelets import scales_to_frequencies
-from pytcl.mathematical_functions.transforms.wavelets import threshold_coefficients
-from pytcl.mathematical_functions.transforms.wavelets import wavelet_info
-from pytcl.mathematical_functions.transforms.wavelets import wpt
+from pytcl.mathematical_functions.transforms.fourier import (
+    CoherenceResult,
+    CrossSpectrum,
+    PowerSpectrum,
+    coherence,
+    cross_spectrum,
+    fft,
+    fft2,
+    fftshift,
+    frequency_axis,
+    ifft,
+    ifft2,
+    ifftshift,
+    irfft,
+    magnitude_spectrum,
+    periodogram,
+    phase_spectrum,
+    power_spectrum,
+    rfft,
+    rfft_frequency_axis,
+)
+from pytcl.mathematical_functions.transforms.stft import (
+    Spectrogram,
+    STFTResult,
+    get_window,
+    istft,
+    mel_spectrogram,
+    reassigned_spectrogram,
+    spectrogram,
+    stft,
+    window_bandwidth,
+)
+from pytcl.mathematical_functions.transforms.wavelets import (
+    PYWT_AVAILABLE,
+    CWTResult,
+    DWTResult,
+    available_wavelets,
+    cwt,
+    dwt,
+    dwt_single_level,
+    frequencies_to_scales,
+    gaussian_wavelet,
+    idwt,
+    idwt_single_level,
+    morlet_wavelet,
+    ricker_wavelet,
+    scales_to_frequencies,
+    threshold_coefficients,
+    wavelet_info,
+    wpt,
+)
 
 __all__ = [
     # Fourier transform types

pytcl/mathematical_functions/transforms/fourier.py

@@ -23,13 +23,10 @@ References
        Electroacoustics, 15(2), 70-73.
 """
 
-from typing import NamedTuple
-from typing import Optional
-from typing import Union
+from typing import NamedTuple, Optional, Union
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 from scipy import fft as scipy_fft
 from scipy import signal as scipy_signal
 

pytcl/mathematical_functions/transforms/stft.py

@@ -22,13 +22,10 @@ References
        Speech, and Signal Processing, 32(2), 236-243.
 """
 
-from typing import NamedTuple
-from typing import Optional
-from typing import Union
+from typing import NamedTuple, Optional, Union
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 from scipy import signal as scipy_signal
 
 # =============================================================================

pytcl/mathematical_functions/transforms/wavelets.py

@@ -20,15 +20,10 @@ References
 .. [2] Daubechies, I. (1992). Ten Lectures on Wavelets. SIAM.
 """
 
-from typing import Callable
-from typing import List
-from typing import NamedTuple
-from typing import Optional
-from typing import Union
+from typing import Callable, List, NamedTuple, Optional, Union
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
 # Try to import pywavelets for DWT support
 try:

pytcl/navigation/__init__.py

@@ -14,101 +14,111 @@ needed in tracking applications, including:
 from pytcl.navigation.geodesy import (
     GRS80,  # Ellipsoids; Coordinate conversions; Geodetic problems
 )
-from pytcl.navigation.geodesy import SPHERE
-from pytcl.navigation.geodesy import WGS84
-from pytcl.navigation.geodesy import Ellipsoid
-from pytcl.navigation.geodesy import direct_geodetic
-from pytcl.navigation.geodesy import ecef_to_enu
-from pytcl.navigation.geodesy import ecef_to_geodetic
-from pytcl.navigation.geodesy import ecef_to_ned
-from pytcl.navigation.geodesy import enu_to_ecef
-from pytcl.navigation.geodesy import geodetic_to_ecef
-from pytcl.navigation.geodesy import haversine_distance
-from pytcl.navigation.geodesy import inverse_geodetic
-from pytcl.navigation.geodesy import ned_to_ecef
+from pytcl.navigation.geodesy import (
+    SPHERE,
+    WGS84,
+    Ellipsoid,
+    direct_geodetic,
+    ecef_to_enu,
+    ecef_to_geodetic,
+    ecef_to_ned,
+    enu_to_ecef,
+    geodetic_to_ecef,
+    haversine_distance,
+    inverse_geodetic,
+    ned_to_ecef,
+)
 from pytcl.navigation.great_circle import EARTH_RADIUS  # Great circle navigation
-from pytcl.navigation.great_circle import CrossTrackResult
-from pytcl.navigation.great_circle import GreatCircleResult
-from pytcl.navigation.great_circle import IntersectionResult
-from pytcl.navigation.great_circle import WaypointResult
-from pytcl.navigation.great_circle import angular_distance
-from pytcl.navigation.great_circle import cross_track_distance
-from pytcl.navigation.great_circle import destination_point
-from pytcl.navigation.great_circle import great_circle_azimuth
-from pytcl.navigation.great_circle import great_circle_direct
-from pytcl.navigation.great_circle import great_circle_distance
-from pytcl.navigation.great_circle import great_circle_intersect
-from pytcl.navigation.great_circle import great_circle_inverse
-from pytcl.navigation.great_circle import great_circle_path_intersect
-from pytcl.navigation.great_circle import great_circle_tdoa_loc
-from pytcl.navigation.great_circle import great_circle_waypoint
-from pytcl.navigation.great_circle import great_circle_waypoints
+from pytcl.navigation.great_circle import (
+    CrossTrackResult,
+    GreatCircleResult,
+    IntersectionResult,
+    WaypointResult,
+    angular_distance,
+    cross_track_distance,
+    destination_point,
+    great_circle_azimuth,
+    great_circle_direct,
+    great_circle_distance,
+    great_circle_intersect,
+    great_circle_inverse,
+    great_circle_path_intersect,
+    great_circle_tdoa_loc,
+    great_circle_waypoint,
+    great_circle_waypoints,
+)
 from pytcl.navigation.ins import (
     A_EARTH,  # Constants; State representation; Gravity and Earth rate
 )
-from pytcl.navigation.ins import B_EARTH
-from pytcl.navigation.ins import E2_EARTH
-from pytcl.navigation.ins import F_EARTH
-from pytcl.navigation.ins import GM_EARTH
-from pytcl.navigation.ins import OMEGA_EARTH
-from pytcl.navigation.ins import IMUData
-from pytcl.navigation.ins import INSErrorState
-from pytcl.navigation.ins import INSState
-from pytcl.navigation.ins import coarse_alignment
-from pytcl.navigation.ins import compensate_imu_data
-from pytcl.navigation.ins import coning_correction
-from pytcl.navigation.ins import earth_rate_ned
-from pytcl.navigation.ins import gravity_ned
-from pytcl.navigation.ins import gyrocompass_alignment
-from pytcl.navigation.ins import initialize_ins_state
-from pytcl.navigation.ins import ins_error_state_matrix
-from pytcl.navigation.ins import ins_process_noise_matrix
-from pytcl.navigation.ins import mechanize_ins_ned
-from pytcl.navigation.ins import normal_gravity
-from pytcl.navigation.ins import radii_of_curvature
-from pytcl.navigation.ins import sculling_correction
-from pytcl.navigation.ins import skew_symmetric
-from pytcl.navigation.ins import transport_rate_ned
-from pytcl.navigation.ins import update_attitude_ned
-from pytcl.navigation.ins import update_quaternion
+from pytcl.navigation.ins import (
+    B_EARTH,
+    E2_EARTH,
+    F_EARTH,
+    GM_EARTH,
+    OMEGA_EARTH,
+    IMUData,
+    INSErrorState,
+    INSState,
+    coarse_alignment,
+    compensate_imu_data,
+    coning_correction,
+    earth_rate_ned,
+    gravity_ned,
+    gyrocompass_alignment,
+    initialize_ins_state,
+    ins_error_state_matrix,
+    ins_process_noise_matrix,
+    mechanize_ins_ned,
+    normal_gravity,
+    radii_of_curvature,
+    sculling_correction,
+    skew_symmetric,
+    transport_rate_ned,
+    update_attitude_ned,
+    update_quaternion,
+)
 from pytcl.navigation.ins_gnss import GPS_L1_FREQ  # INS/GNSS integration
-from pytcl.navigation.ins_gnss import GPS_L1_WAVELENGTH
-from pytcl.navigation.ins_gnss import SPEED_OF_LIGHT
-from pytcl.navigation.ins_gnss import GNSSMeasurement
-from pytcl.navigation.ins_gnss import INSGNSSState
-from pytcl.navigation.ins_gnss import LooseCoupledResult
-from pytcl.navigation.ins_gnss import SatelliteInfo
-from pytcl.navigation.ins_gnss import TightCoupledResult
-from pytcl.navigation.ins_gnss import compute_dop
-from pytcl.navigation.ins_gnss import compute_line_of_sight
-from pytcl.navigation.ins_gnss import gnss_outage_detection
-from pytcl.navigation.ins_gnss import initialize_ins_gnss
-from pytcl.navigation.ins_gnss import loose_coupled_predict
-from pytcl.navigation.ins_gnss import loose_coupled_update
-from pytcl.navigation.ins_gnss import loose_coupled_update_position
-from pytcl.navigation.ins_gnss import loose_coupled_update_velocity
-from pytcl.navigation.ins_gnss import position_measurement_matrix
-from pytcl.navigation.ins_gnss import position_velocity_measurement_matrix
-from pytcl.navigation.ins_gnss import pseudorange_measurement_matrix
-from pytcl.navigation.ins_gnss import satellite_elevation_azimuth
-from pytcl.navigation.ins_gnss import tight_coupled_measurement_matrix
-from pytcl.navigation.ins_gnss import tight_coupled_pseudorange_innovation
-from pytcl.navigation.ins_gnss import tight_coupled_update
-from pytcl.navigation.ins_gnss import velocity_measurement_matrix
+from pytcl.navigation.ins_gnss import (
+    GPS_L1_WAVELENGTH,
+    SPEED_OF_LIGHT,
+    GNSSMeasurement,
+    INSGNSSState,
+    LooseCoupledResult,
+    SatelliteInfo,
+    TightCoupledResult,
+    compute_dop,
+    compute_line_of_sight,
+    gnss_outage_detection,
+    initialize_ins_gnss,
+    loose_coupled_predict,
+    loose_coupled_update,
+    loose_coupled_update_position,
+    loose_coupled_update_velocity,
+    position_measurement_matrix,
+    position_velocity_measurement_matrix,
+    pseudorange_measurement_matrix,
+    satellite_elevation_azimuth,
+    tight_coupled_measurement_matrix,
+    tight_coupled_pseudorange_innovation,
+    tight_coupled_update,
+    velocity_measurement_matrix,
+)
 from pytcl.navigation.rhumb import RhumbDirectResult  # Rhumb line navigation
-from pytcl.navigation.rhumb import RhumbIntersectionResult
-from pytcl.navigation.rhumb import RhumbResult
-from pytcl.navigation.rhumb import compare_great_circle_rhumb
-from pytcl.navigation.rhumb import direct_rhumb
-from pytcl.navigation.rhumb import direct_rhumb_spherical
-from pytcl.navigation.rhumb import indirect_rhumb
-from pytcl.navigation.rhumb import indirect_rhumb_spherical
-from pytcl.navigation.rhumb import rhumb_bearing
-from pytcl.navigation.rhumb import rhumb_distance_ellipsoidal
-from pytcl.navigation.rhumb import rhumb_distance_spherical
-from pytcl.navigation.rhumb import rhumb_intersect
-from pytcl.navigation.rhumb import rhumb_midpoint
-from pytcl.navigation.rhumb import rhumb_waypoints
+from pytcl.navigation.rhumb import (
+    RhumbIntersectionResult,
+    RhumbResult,
+    compare_great_circle_rhumb,
+    direct_rhumb,
+    direct_rhumb_spherical,
+    indirect_rhumb,
+    indirect_rhumb_spherical,
+    rhumb_bearing,
+    rhumb_distance_ellipsoidal,
+    rhumb_distance_spherical,
+    rhumb_intersect,
+    rhumb_midpoint,
+    rhumb_waypoints,
+)
 
 __all__ = [
     # Ellipsoids

pytcl/navigation/geodesy.py

@@ -8,12 +8,10 @@ This module provides geodetic utilities including:
 - Earth ellipsoid parameters
 """
 
-from typing import NamedTuple
-from typing import Tuple
+from typing import NamedTuple, Tuple
 
 import numpy as np
-from numpy.typing import ArrayLike
-from numpy.typing import NDArray
+from numpy.typing import ArrayLike, NDArray
 
 
 class Ellipsoid(NamedTuple):

pytcl/navigation/great_circle.py

@@ -10,9 +10,7 @@ computing the shortest path on a sphere, including:
 - TDOA localization on a sphere
 """
 
-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 NDArray

pytcl/navigation/ins.py

@@ -18,19 +18,13 @@ References
 .. [3] J. Farrell, "Aided Navigation: GPS with High Rate Sensors", McGraw-Hill, 2008.
 """
 
-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 pytcl.coordinate_systems.rotations import quat2rotmat
-from pytcl.coordinate_systems.rotations import quat_multiply
-from pytcl.coordinate_systems.rotations import rotmat2quat
-from pytcl.navigation.geodesy import WGS84
-from pytcl.navigation.geodesy import Ellipsoid
+from numpy.typing import ArrayLike, NDArray
+
+from pytcl.coordinate_systems.rotations import quat2rotmat, quat_multiply, rotmat2quat
+from pytcl.navigation.geodesy import WGS84, Ellipsoid
 
 # =============================================================================
 # Physical Constants

pytcl/navigation/ins_gnss.py

@@ -17,25 +17,20 @@ References
        Kalman Filtering", 4th ed., Wiley, 2012.
 """
 
-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 pytcl.dynamic_estimation.kalman import kf_predict
-from pytcl.dynamic_estimation.kalman import kf_update
-from pytcl.navigation.geodesy import WGS84
-from pytcl.navigation.geodesy import Ellipsoid
-from pytcl.navigation.geodesy import geodetic_to_ecef
-from pytcl.navigation.ins import IMUData
-from pytcl.navigation.ins import INSState
-from pytcl.navigation.ins import ins_error_state_matrix
-from pytcl.navigation.ins import ins_process_noise_matrix
-from pytcl.navigation.ins import mechanize_ins_ned
+from numpy.typing import ArrayLike, NDArray
+
+from pytcl.dynamic_estimation.kalman import kf_predict, kf_update
+from pytcl.navigation.geodesy import WGS84, Ellipsoid, geodetic_to_ecef
+from pytcl.navigation.ins import (
+    IMUData,
+    INSState,
+    ins_error_state_matrix,
+    ins_process_noise_matrix,
+    mechanize_ins_ned,
+)
 
 # =============================================================================
 # Constants

pytcl/navigation/rhumb.py

@@ -9,14 +9,12 @@ constant-bearing paths on a sphere and ellipsoid, including:
 - Spherical and ellipsoidal formulations
 """
 
-from typing import NamedTuple
-from typing import Tuple
+from typing import NamedTuple, Tuple
 
 import numpy as np
 from numpy.typing import NDArray
 
-from pytcl.navigation.geodesy import WGS84
-from pytcl.navigation.geodesy import Ellipsoid
+from pytcl.navigation.geodesy import WGS84, Ellipsoid
 
 
 class RhumbResult(NamedTuple):

pytcl/performance_evaluation/__init__.py

@@ -27,29 +27,33 @@ RMSE: 0.100
 """
 
 # Estimation metrics
-from pytcl.performance_evaluation.estimation_metrics import ConsistencyResult
-from pytcl.performance_evaluation.estimation_metrics import average_nees
-from pytcl.performance_evaluation.estimation_metrics import consistency_test
-from pytcl.performance_evaluation.estimation_metrics import credibility_interval
-from pytcl.performance_evaluation.estimation_metrics import estimation_error_bounds
-from pytcl.performance_evaluation.estimation_metrics import monte_carlo_rmse
-from pytcl.performance_evaluation.estimation_metrics import nees
-from pytcl.performance_evaluation.estimation_metrics import nees_sequence
-from pytcl.performance_evaluation.estimation_metrics import nis
-from pytcl.performance_evaluation.estimation_metrics import nis_sequence
-from pytcl.performance_evaluation.estimation_metrics import position_rmse
-from pytcl.performance_evaluation.estimation_metrics import rmse
-from pytcl.performance_evaluation.estimation_metrics import velocity_rmse
+from pytcl.performance_evaluation.estimation_metrics import (
+    ConsistencyResult,
+    average_nees,
+    consistency_test,
+    credibility_interval,
+    estimation_error_bounds,
+    monte_carlo_rmse,
+    nees,
+    nees_sequence,
+    nis,
+    nis_sequence,
+    position_rmse,
+    rmse,
+    velocity_rmse,
+)
 
 # Track metrics
-from pytcl.performance_evaluation.track_metrics import MOTMetrics
-from pytcl.performance_evaluation.track_metrics import OSPAResult
-from pytcl.performance_evaluation.track_metrics import identity_switches
-from pytcl.performance_evaluation.track_metrics import mot_metrics
-from pytcl.performance_evaluation.track_metrics import ospa
-from pytcl.performance_evaluation.track_metrics import ospa_over_time
-from pytcl.performance_evaluation.track_metrics import track_fragmentation
-from pytcl.performance_evaluation.track_metrics import track_purity
+from pytcl.performance_evaluation.track_metrics import (
+    MOTMetrics,
+    OSPAResult,
+    identity_switches,
+    mot_metrics,
+    ospa,
+    ospa_over_time,
+    track_fragmentation,
+    track_purity,
+)
 
 __all__ = [
     # Track metrics

pytcl/performance_evaluation/estimation_metrics.py

@@ -10,9 +10,7 @@ References
        Applications to Tracking and Navigation," Wiley, 2001.
 """
 
-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 NDArray

pytcl/performance_evaluation/track_metrics.py

@@ -14,9 +14,7 @@ References
        2008.
 """
 
-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 NDArray