nrl-tracker 0.22.3__tar.gz → 0.22.5__tar.gz

{nrl_tracker-0.22.3/nrl_tracker.egg-info → nrl_tracker-0.22.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 0.22.3
+Version: 0.22.5
 Summary: Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms
 Author: Original: David F. Crouse, Naval Research Laboratory
 Maintainer: Python Port Contributors
@@ -60,15 +60,15 @@ Requires-Dist: nrl-tracker[astronomy,dev,geodesy,optimization,signal,visualizati
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v0.22.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v0.22.5-blue.svg)](https://pypi.org/project/nrl-tracker/)
 [![Python 3.10+](https://img.shields.io/badge/python-3.10+-blue.svg)](https://www.python.org/downloads/)
 [![License: Public Domain](https://img.shields.io/badge/License-Public%20Domain-brightgreen.svg)](https://en.wikipedia.org/wiki/Public_domain)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
-[![Tests](https://img.shields.io/badge/tests-1530%20passing-success.svg)](https://github.com/nedonatelli/TCL)
+[![Tests](https://img.shields.io/badge/tests-1598%20passing-success.svg)](https://github.com/nedonatelli/TCL)
 
 A Python port of the [U.S. Naval Research Laboratory's Tracker Component Library](https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary), a comprehensive collection of algorithms for target tracking, estimation, coordinate systems, and related mathematical functions.
 
-**800+ functions** | **144 modules** | **1,530 tests** | **15+ algorithm categories**
+**800+ functions** | **144 modules** | **1,598 tests** | **15+ algorithm categories**
 
 ## Overview
 

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/README.md

@@ -1,14 +1,14 @@
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v0.22.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v0.22.5-blue.svg)](https://pypi.org/project/nrl-tracker/)
 [![Python 3.10+](https://img.shields.io/badge/python-3.10+-blue.svg)](https://www.python.org/downloads/)
 [![License: Public Domain](https://img.shields.io/badge/License-Public%20Domain-brightgreen.svg)](https://en.wikipedia.org/wiki/Public_domain)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
-[![Tests](https://img.shields.io/badge/tests-1530%20passing-success.svg)](https://github.com/nedonatelli/TCL)
+[![Tests](https://img.shields.io/badge/tests-1598%20passing-success.svg)](https://github.com/nedonatelli/TCL)
 
 A Python port of the [U.S. Naval Research Laboratory's Tracker Component Library](https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary), a comprehensive collection of algorithms for target tracking, estimation, coordinate systems, and related mathematical functions.
 
-**800+ functions** | **144 modules** | **1,530 tests** | **15+ algorithm categories**
+**800+ functions** | **144 modules** | **1,598 tests** | **15+ algorithm categories**
 
 ## Overview
 

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5/nrl_tracker.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 0.22.3
+Version: 0.22.5
 Summary: Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms
 Author: Original: David F. Crouse, Naval Research Laboratory
 Maintainer: Python Port Contributors
@@ -60,15 +60,15 @@ Requires-Dist: nrl-tracker[astronomy,dev,geodesy,optimization,signal,visualizati
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v0.22.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v0.22.5-blue.svg)](https://pypi.org/project/nrl-tracker/)
 [![Python 3.10+](https://img.shields.io/badge/python-3.10+-blue.svg)](https://www.python.org/downloads/)
 [![License: Public Domain](https://img.shields.io/badge/License-Public%20Domain-brightgreen.svg)](https://en.wikipedia.org/wiki/Public_domain)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
-[![Tests](https://img.shields.io/badge/tests-1530%20passing-success.svg)](https://github.com/nedonatelli/TCL)
+[![Tests](https://img.shields.io/badge/tests-1598%20passing-success.svg)](https://github.com/nedonatelli/TCL)
 
 A Python port of the [U.S. Naval Research Laboratory's Tracker Component Library](https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary), a comprehensive collection of algorithms for target tracking, estimation, coordinate systems, and related mathematical functions.
 
-**800+ functions** | **144 modules** | **1,530 tests** | **15+ algorithm categories**
+**800+ functions** | **144 modules** | **1,598 tests** | **15+ algorithm categories**
 
 ## Overview
 

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "nrl-tracker"
-version = "0.22.3"
+version = "0.22.5"
 description = "Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms"
 readme = "README.md"
 authors = [

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/__init__.py

@@ -20,7 +20,7 @@ References
        no. 5, pp. 18-27, May 2017.
 """
 
-__version__ = "0.22.3"
+__version__ = "0.22.5"
 __author__ = "Python Port Contributors"
 __original_author__ = "David F. Crouse, Naval Research Laboratory"
 

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/assignment_algorithms/gating.py

@@ -19,9 +19,9 @@ def _mahalanobis_distance_2d(
     S_inv: np.ndarray,
 ) -> float:
     """JIT-compiled Mahalanobis distance for 2D innovations."""
-    return innovation[0] * (S_inv[0, 0] * innovation[0] + S_inv[0, 1] * innovation[1]) + innovation[
-        1
-    ] * (S_inv[1, 0] * innovation[0] + S_inv[1, 1] * innovation[1])
+    return innovation[0] * (
+        S_inv[0, 0] * innovation[0] + S_inv[0, 1] * innovation[1]
+    ) + innovation[1] * (S_inv[1, 0] * innovation[0] + S_inv[1, 1] * innovation[1])
 
 
 @njit(cache=True, fastmath=True)

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/assignment_algorithms/jpda.py

@@ -94,7 +94,9 @@ def compute_measurement_likelihood(
         return 0.0
 
     mahal_sq = innovation @ np.linalg.solve(innovation_cov, innovation)
-    likelihood = detection_prob * np.exp(-0.5 * mahal_sq) / np.sqrt((2 * np.pi) ** m * det_S)
+    likelihood = (
+        detection_prob * np.exp(-0.5 * mahal_sq) / np.sqrt((2 * np.pi) ** m * det_S)
+    )
 
     return likelihood
 
@@ -208,7 +210,9 @@ def jpda_probabilities(
     if n_tracks <= 5 and n_meas <= 5:
         beta = _jpda_exact(likelihood_matrix, gated, detection_prob, clutter_density)
     else:
-        beta = _jpda_approximate(likelihood_matrix, gated, detection_prob, clutter_density)
+        beta = _jpda_approximate(
+            likelihood_matrix, gated, detection_prob, clutter_density
+        )
 
     return beta
 
@@ -254,7 +258,9 @@ def _jpda_exact(
             if gated[track_idx, meas_idx] and track_idx not in used_tracks:
                 current_assignment.append(track_idx)
                 used_tracks.add(track_idx)
-                yield from generate_hypotheses(meas_idx + 1, current_assignment, used_tracks)
+                yield from generate_hypotheses(
+                    meas_idx + 1, current_assignment, used_tracks
+                )
                 used_tracks.remove(track_idx)
                 current_assignment.pop()
 
@@ -292,7 +298,9 @@ def _jpda_exact(
         hypothesis_probs = [p / total_prob for p in hypothesis_probs]
 
     # Compute marginal association probabilities
-    for h_idx, (assignment, prob) in enumerate(zip(hypothesis_assignments, hypothesis_probs)):
+    for h_idx, (assignment, prob) in enumerate(
+        zip(hypothesis_assignments, hypothesis_probs)
+    ):
         detected_tracks = set()
         for j, track_idx in enumerate(assignment):
             if track_idx >= 0:

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/assignment_algorithms/two_dimensional/kbest.py

@@ -335,7 +335,9 @@ def _partition_solution(
 
     for i in range(start_idx, n_assigned):
         # Require assignments 0..i-1, forbid assignment i
-        new_required = required + [(row_ind[j], col_ind[j]) for j in range(start_idx, i)]
+        new_required = required + [
+            (row_ind[j], col_ind[j]) for j in range(start_idx, i)
+        ]
         new_forbidden = forbidden + [(row_ind[i], col_ind[i])]
 
         # Solve constrained problem

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/astronomical/ephemerides.py

@@ -137,14 +137,16 @@ class DEEphemeris:
         """
         if version not in self._VALID_VERSIONS:
             raise ValueError(
-                f"Ephemeris version must be one of {self._VALID_VERSIONS}, " f"got '{version}'"
+                f"Ephemeris version must be one of {self._VALID_VERSIONS}, "
+                f"got '{version}'"
             )
 
         try:
             import jplephem
         except ImportError as e:
             raise ImportError(
-                "jplephem is required for ephemeris access. " "Install with: pip install jplephem"
+                "jplephem is required for ephemeris access. "
+                "Install with: pip install jplephem"
             ) from e
 
         self.version = version
@@ -170,9 +172,7 @@ class DEEphemeris:
 
                 # Try to construct kernel filename
                 kernel_name = f"de{self.version[2:]}.bsp"
-                kernel_url = (
-                    f"https://naif.jpl.nasa.gov/pub/naif/generic_kernels/spk/planets/{kernel_name}"
-                )
+                kernel_url = f"https://naif.jpl.nasa.gov/pub/naif/generic_kernels/spk/planets/{kernel_name}"
 
                 # Try to download if not exists
                 kernel_path = os.path.expanduser(f"~/.jplephem/{kernel_name}")
@@ -296,7 +296,9 @@ class DEEphemeris:
 
             # Get Moon position relative to Earth
             moon_segment = self.kernel[3, 301]
-            moon_rel_earth_pos, moon_rel_earth_vel = moon_segment.compute_and_differentiate(jd)
+            moon_rel_earth_pos, moon_rel_earth_vel = (
+                moon_segment.compute_and_differentiate(jd)
+            )
 
             # Moon position relative to SSB
             position = earth_pos + moon_rel_earth_pos
@@ -316,7 +318,9 @@ class DEEphemeris:
 
     def planet_position(
         self,
-        planet: Literal["mercury", "venus", "mars", "jupiter", "saturn", "uranus", "neptune"],
+        planet: Literal[
+            "mercury", "venus", "mars", "jupiter", "saturn", "uranus", "neptune"
+        ],
         jd: float,
         frame: Literal["icrf", "ecliptic"] = "icrf",
     ) -> Tuple[np.ndarray, np.ndarray]:
@@ -373,7 +377,9 @@ class DEEphemeris:
 
         return position, velocity
 
-    def barycenter_position(self, body: str, jd: float) -> Tuple[np.ndarray, np.ndarray]:
+    def barycenter_position(
+        self, body: str, jd: float
+    ) -> Tuple[np.ndarray, np.ndarray]:
         """Compute position of any body relative to Solar System Barycenter.
 
         Parameters
@@ -471,7 +477,9 @@ def moon_position(
 
 
 def planet_position(
-    planet: Literal["mercury", "venus", "mars", "jupiter", "saturn", "uranus", "neptune"],
+    planet: Literal[
+        "mercury", "venus", "mars", "jupiter", "saturn", "uranus", "neptune"
+    ],
     jd: float,
     frame: Literal["icrf", "ecliptic"] = "icrf",
 ) -> Tuple[np.ndarray, np.ndarray]:

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/astronomical/lambert.py

@@ -198,7 +198,9 @@ def lambert_universal(
         psi = (psi_low + psi_high) / 2
 
     else:
-        raise ValueError(f"Lambert's problem did not converge after {max_iter} iterations")
+        raise ValueError(
+            f"Lambert's problem did not converge after {max_iter} iterations"
+        )
 
     # Compute f, g, f_dot, g_dot
     f = 1 - y / r1_mag
@@ -286,7 +288,11 @@ def lambert_izzo(
 
     # Cross product for angular momentum direction
     cross = np.cross(r1, r2)
-    h_hat = cross / np.linalg.norm(cross) if np.linalg.norm(cross) > 1e-10 else np.array([0, 0, 1])
+    h_hat = (
+        cross / np.linalg.norm(cross)
+        if np.linalg.norm(cross) > 1e-10
+        else np.array([0, 0, 1])
+    )
 
     # Transfer angle
     cos_dnu = np.dot(r1_hat, r2_hat)
@@ -329,9 +335,13 @@ def lambert_izzo(
 
         # Time of flight equation
         if x < 1:
-            psi = np.arccos(x * lambda_param + y * np.sqrt(1 - lambda_param * lambda_param))
+            psi = np.arccos(
+                x * lambda_param + y * np.sqrt(1 - lambda_param * lambda_param)
+            )
         else:
-            psi = np.arccosh(x * lambda_param + y * np.sqrt(lambda_param * lambda_param - 1))
+            psi = np.arccosh(
+                x * lambda_param + y * np.sqrt(lambda_param * lambda_param - 1)
+            )
 
         T_x = (
             psi + multi_rev * np.pi - (x - lambda_param * y) * np.sqrt(abs(1 - x * x))

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/astronomical/orbital_mechanics.py

@@ -176,7 +176,9 @@ def mean_to_hyperbolic_anomaly(
         if abs(delta) < tol:
             return H
 
-    raise ValueError(f"Hyperbolic Kepler's equation did not converge after {max_iter} iterations")
+    raise ValueError(
+        f"Hyperbolic Kepler's equation did not converge after {max_iter} iterations"
+    )
 
 
 def eccentric_to_true_anomaly(E: float, e: float) -> float:

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/astronomical/reference_frames.py

@@ -292,7 +292,9 @@ def gmst_iau82(jd_ut1: float) -> float:
     T_u = (jd_0h - JD_J2000) / 36525.0
 
     # GMST at 0h UT1 (seconds)
-    gmst_0h_sec = 24110.54841 + 8640184.812866 * T_u + 0.093104 * T_u**2 - 6.2e-6 * T_u**3
+    gmst_0h_sec = (
+        24110.54841 + 8640184.812866 * T_u + 0.093104 * T_u**2 - 6.2e-6 * T_u**3
+    )
 
     # Add UT1 fraction
     ut1_fraction = (jd_ut1 - jd_0h) * 86400.0

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/astronomical/relativity.py

@@ -323,7 +323,9 @@ def post_newtonian_acceleration(
     return a_newt + a_1pn
 
 
-def geodetic_precession(a: float, e: float, inclination: float, gm: float = GM_EARTH) -> float:
+def geodetic_precession(
+    a: float, e: float, inclination: float, gm: float = GM_EARTH
+) -> float:
     """Compute geodetic (de Sitter) precession rate of orbital plane.
 
     The orbital plane of a satellite precesses due to frame-dragging effects
@@ -363,7 +365,11 @@ def geodetic_precession(a: float, e: float, inclination: float, gm: float = GM_E
 
 
 def lense_thirring_precession(
-    a: float, e: float, inclination: float, angular_momentum: float, gm: float = GM_EARTH
+    a: float,
+    e: float,
+    inclination: float,
+    angular_momentum: float,
+    gm: float = GM_EARTH,
 ) -> float:
     """Compute Lense-Thirring (frame-dragging) precession of orbital node.
 

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/atmosphere/models.py

@@ -218,7 +218,9 @@ def isa_atmosphere(
     strat_mask = altitude > h_trop
     temperature[strat_mask] = T_trop + temperature_offset
     # Pressure at tropopause
-    P_trop = P0 * ((T0 + temperature_offset) / (T_trop + temperature_offset)) ** (G0 / (R * L))
+    P_trop = P0 * ((T0 + temperature_offset) / (T_trop + temperature_offset)) ** (
+        G0 / (R * L)
+    )
     pressure[strat_mask] = P_trop * np.exp(
         -G0 * (altitude[strat_mask] - h_trop) / (R * (T_trop + temperature_offset))
     )

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/clustering/gaussian_mixture.py

@@ -297,7 +297,8 @@ def prune_mixture(
     total_weight = sum(c.weight for c in surviving)
     if total_weight > 0:
         surviving = [
-            GaussianComponent(c.weight / total_weight, c.mean, c.covariance) for c in surviving
+            GaussianComponent(c.weight / total_weight, c.mean, c.covariance)
+            for c in surviving
         ]
 
     return surviving
@@ -391,7 +392,8 @@ def reduce_mixture_runnalls(
     total_weight = sum(c.weight for c in working)
     if total_weight > 0:
         working = [
-            GaussianComponent(c.weight / total_weight, c.mean, c.covariance) for c in working
+            GaussianComponent(c.weight / total_weight, c.mean, c.covariance)
+            for c in working
         ]
 
     return ReductionResult(working, n_original, len(working), total_cost)
@@ -531,7 +533,8 @@ def reduce_mixture_west(
     total_weight = sum(c.weight for c in working)
     if total_weight > 0:
         working = [
-            GaussianComponent(c.weight / total_weight, c.mean, c.covariance) for c in working
+            GaussianComponent(c.weight / total_weight, c.mean, c.covariance)
+            for c in working
         ]
 
     return ReductionResult(working, n_original, len(working), total_cost)
@@ -602,7 +605,8 @@ class GaussianMixture:
         total = sum(c.weight for c in self.components)
         if total > 0:
             self.components = [
-                GaussianComponent(c.weight / total, c.mean, c.covariance) for c in self.components
+                GaussianComponent(c.weight / total, c.mean, c.covariance)
+                for c in self.components
             ]
 
     @property

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/clustering/hierarchical.py

@@ -152,7 +152,11 @@ 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
     )
 

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/clustering/kmeans.py

@@ -250,7 +250,9 @@ 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(

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/containers/cluster_set.py

@@ -290,7 +290,9 @@ 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:
@@ -407,7 +409,9 @@ 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.
 
@@ -556,7 +560,9 @@ 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

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/containers/measurement_set.py

@@ -203,7 +203,9 @@ 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:
@@ -344,7 +346,9 @@ 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.
 

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/containers/rtree.py

@@ -281,7 +281,9 @@ 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,
@@ -479,7 +481,8 @@ 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:

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/coordinate_systems/conversions/geodetic.py

@@ -147,7 +147,9 @@ 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):
@@ -376,8 +378,18 @@ 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:

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/coordinate_systems/projections/projections.py

@@ -140,7 +140,9 @@ def mercator(
 
     # Northing using isometric latitude
     sin_lat = np.sin(lat)
-    y = a * np.log(np.tan(np.pi / 4 + lat / 2) * ((1 - e * sin_lat) / (1 + e * sin_lat)) ** (e / 2))
+    y = a * np.log(
+        np.tan(np.pi / 4 + lat / 2) * ((1 - e * sin_lat) / (1 + e * sin_lat)) ** (e / 2)
+    )
 
     # Scale factor
     cos_lat = np.cos(lat)
@@ -201,7 +203,9 @@ def mercator_inverse(
 
     for _ in range(max_iter):
         sin_lat = np.sin(lat)
-        lat_new = np.pi / 2 - 2 * np.arctan(t * ((1 - e * sin_lat) / (1 + e * sin_lat)) ** (e / 2))
+        lat_new = np.pi / 2 - 2 * np.arctan(
+            t * ((1 - e * sin_lat) / (1 + e * sin_lat)) ** (e / 2)
+        )
         if abs(lat_new - lat) < tol:
             break
         lat = lat_new
@@ -579,7 +583,9 @@ def geodetic2utm(lat: float, lon: float, zone: Optional[int] = None) -> UTMResul
         northing = result.y + 10000000.0
         hemisphere = "S"
 
-    return UTMResult(easting, northing, zone, hemisphere, result.scale, result.convergence)
+    return UTMResult(
+        easting, northing, zone, hemisphere, result.scale, result.convergence
+    )
 
 
 def utm2geodetic(
@@ -690,7 +696,8 @@ def stereographic(
         return (
             2
             * np.arctan(
-                np.tan(np.pi / 4 + phi / 2) * ((1 - e * sin_phi) / (1 + e * sin_phi)) ** (e / 2)
+                np.tan(np.pi / 4 + phi / 2)
+                * ((1 - e * sin_phi) / (1 + e * sin_phi)) ** (e / 2)
             )
             - np.pi / 2
         )
@@ -778,7 +785,8 @@ def stereographic_inverse(
     chi0 = (
         2
         * np.arctan(
-            np.tan(np.pi / 4 + lat0 / 2) * ((1 - e * sin_lat0) / (1 + e * sin_lat0)) ** (e / 2)
+            np.tan(np.pi / 4 + lat0 / 2)
+            * ((1 - e * sin_lat0) / (1 + e * sin_lat0)) ** (e / 2)
         )
         - np.pi / 2
     )
@@ -813,7 +821,8 @@ def stereographic_inverse(
         lat_new = (
             2
             * np.arctan(
-                np.tan(np.pi / 4 + chi / 2) * ((1 + e * sin_lat) / (1 - e * sin_lat)) ** (e / 2)
+                np.tan(np.pi / 4 + chi / 2)
+                * ((1 + e * sin_lat) / (1 - e * sin_lat)) ** (e / 2)
             )
             - np.pi / 2
         )
@@ -945,7 +954,9 @@ def lambert_conformal_conic(
 
     def compute_t(phi: float) -> float:
         sin_phi = np.sin(phi)
-        return np.tan(np.pi / 4 - phi / 2) / (((1 - e * sin_phi) / (1 + e * sin_phi)) ** (e / 2))
+        return np.tan(np.pi / 4 - phi / 2) / (
+            ((1 - e * sin_phi) / (1 + e * sin_phi)) ** (e / 2)
+        )
 
     m1 = compute_m(lat1)
     m2 = compute_m(lat2)
@@ -1034,7 +1045,9 @@ def lambert_conformal_conic_inverse(
 
     def compute_t(phi: float) -> float:
         sin_phi = np.sin(phi)
-        return np.tan(np.pi / 4 - phi / 2) / (((1 - e * sin_phi) / (1 + e * sin_phi)) ** (e / 2))
+        return np.tan(np.pi / 4 - phi / 2) / (
+            ((1 - e * sin_phi) / (1 + e * sin_phi)) ** (e / 2)
+        )
 
     m1 = compute_m(lat1)
     m2 = compute_m(lat2)
@@ -1062,7 +1075,9 @@ def lambert_conformal_conic_inverse(
     lat = np.pi / 2 - 2 * np.arctan(t)
     for _ in range(max_iter):
         sin_lat = np.sin(lat)
-        lat_new = np.pi / 2 - 2 * np.arctan(t * ((1 - e * sin_lat) / (1 + e * sin_lat)) ** (e / 2))
+        lat_new = np.pi / 2 - 2 * np.arctan(
+            t * ((1 - e * sin_lat) / (1 + e * sin_lat)) ** (e / 2)
+        )
         if abs(lat_new - lat) < tol:
             break
         lat = lat_new
@@ -1126,7 +1141,13 @@ def azimuthal_equidistant(
     """
     # Use spherical approximation with authalic radius
     R = a * np.sqrt(
-        (1 + (1 - e2) / (2 * np.sqrt(1 - e2)) * np.log((1 + np.sqrt(1 - e2)) / np.sqrt(e2))) / 2
+        (
+            1
+            + (1 - e2)
+            / (2 * np.sqrt(1 - e2))
+            * np.log((1 + np.sqrt(1 - e2)) / np.sqrt(e2))
+        )
+        / 2
     )
 
     sin_lat = np.sin(lat)
@@ -1196,7 +1217,13 @@ def azimuthal_equidistant_inverse(
         (latitude, longitude) in radians.
     """
     R = a * np.sqrt(
-        (1 + (1 - e2) / (2 * np.sqrt(1 - e2)) * np.log((1 + np.sqrt(1 - e2)) / np.sqrt(e2))) / 2
+        (
+            1
+            + (1 - e2)
+            / (2 * np.sqrt(1 - e2))
+            * np.log((1 + np.sqrt(1 - e2)) / np.sqrt(e2))
+        )
+        / 2
     )
 
     rho = np.sqrt(x**2 + y**2)

{nrl_tracker-0.22.3 → nrl_tracker-0.22.5}/pytcl/coordinate_systems/rotations/rotations.py

@@ -353,7 +353,9 @@ def rotmat2axisangle(
         return axis / np.linalg.norm(axis), float(angle)
 
     # General case
-    axis = np.array([R[2, 1] - R[1, 2], R[0, 2] - R[2, 0], R[1, 0] - R[0, 1]]) / (2 * np.sin(angle))
+    axis = np.array([R[2, 1] - R[1, 2], R[0, 2] - R[2, 0], R[1, 0] - R[0, 1]]) / (
+        2 * np.sin(angle)
+    )
 
     return axis, float(angle)