nrl-tracker 1.7.0__py3-none-any.whl → 1.7.1__py3-none-any.whl

{nrl_tracker-1.7.0.dist-info → nrl_tracker-1.7.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 1.7.0
+Version: 1.7.1
 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
@@ -63,12 +63,13 @@ Requires-Dist: plotly>=5.15.0; extra == "visualization"
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.7.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v1.7.1-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-1988%20passing-success.svg)](https://github.com/nedonatelli/TCL)
 [![MATLAB Parity](https://img.shields.io/badge/MATLAB%20Parity-100%25-brightgreen.svg)](docs/gap_analysis.rst)
+[![Type Checking](https://img.shields.io/badge/mypy--strict-passing-brightgreen.svg)](mypy.ini)
 
 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.
 

{nrl_tracker-1.7.0.dist-info → nrl_tracker-1.7.1.dist-info}/RECORD

@@ -1,77 +1,77 @@
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 pytcl/dynamic_estimation/measurement_update/__init__.py,sha256=8rlyJwVpxf0fZj-AFo1hlewvryZRhUzcy3F8uMe6I8c,48
 pytcl/dynamic_estimation/particle_filters/__init__.py,sha256=-DRF5rVF2749suLlArmkTvVkqeMcV_mIx0eLeTj6wNU,906
-pytcl/dynamic_estimation/particle_filters/bootstrap.py,sha256=FcF4W_NM5ZqJnw5fq4rq6fLY9X1r4uFJOiAX9a-NGG8,13371
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 pytcl/dynamic_models/__init__.py,sha256=Cd8MyyYuB8gMnepkPA-HSwTaKFPThnqoKOhdjVOsXWg,2783
 pytcl/dynamic_models/continuous_time/__init__.py,sha256=dAkfEddLkfMvDalK9v2GRBvaZV1KgqYpFBLOnoiFClw,1023
 pytcl/dynamic_models/continuous_time/dynamics.py,sha256=CDwqn-66eUwXA5xfIjaG6A4EDBqtOyQ3aWarJr9QH4g,12858
@@ -87,50 +87,50 @@ pytcl/gravity/__init__.py,sha256=5xNdQSrrkt7-1-JPOYqR38CqvNJ7qKlPyMK36DGm6-I,369
 pytcl/gravity/clenshaw.py,sha256=1BdxzU8IfGGd68H_U35soIJkiOHphY35e9mLElhPTOg,15364
 pytcl/gravity/egm.py,sha256=47I8nyXNhXUKPkufXahs4JGsBcqhM-9z2xGz0X4JPmU,18422
 pytcl/gravity/models.py,sha256=rdY3Do4M1eRFO74gu3xy-bBn7tox3zM49wYbfnsIQWw,11159
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-pytcl/gravity/tides.py,sha256=hef_BGewFGD7dJwg0t09Z6tfWLco_avATLuu66rnTpI,27733
+pytcl/gravity/spherical_harmonics.py,sha256=FV_cFp0lx6uGw-dxNFRpehaAn28QImX9z7PFdyRbEJI,16549
+pytcl/gravity/tides.py,sha256=nu9_L12aBd2EpmTMh3UulmYCUxQ9wC4kOpdSIn7f0Z8,27785
 pytcl/magnetism/__init__.py,sha256=pBASOzCPHNnYqUH_XDEblhGtjz50vY9uW2KS25A0zQQ,2701
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 pytcl/magnetism/igrf.py,sha256=3g0PsH8IdbwQQS28OR5XWD-g-QxvfUva7jOkKToxndQ,13384
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+pytcl/magnetism/wmm.py,sha256=7YsxnBmxeH5WnTTZ3VE91gr55Qq-OvVmBRAMbqlhGVg,23479
 pytcl/mathematical_functions/__init__.py,sha256=zeJ1ffRRl83k2NHn3HTn-fgtFoWNPq6LCALc3xRo4Do,3767
 pytcl/mathematical_functions/basic_matrix/__init__.py,sha256=kZv3kMAEHBdVxhbyMxTyM0s-4XJP1tK6po82UsIE4tc,1318
 pytcl/mathematical_functions/basic_matrix/decompositions.py,sha256=PWJsFDiXM2T78RHdxBJZPFnl8kFbNZQpHrbpw0mhE00,12268
 pytcl/mathematical_functions/basic_matrix/special_matrices.py,sha256=kOozwP2CHAj4qyO7Z9ct6GwDMkmHkk1bQa0e9G98FgA,13499
 pytcl/mathematical_functions/combinatorics/__init__.py,sha256=byuHI0WkxOkQF8egrfjEr-awB2visWDXlGMnDux5IBg,1043
-pytcl/mathematical_functions/combinatorics/combinatorics.py,sha256=3EgkWdBqQ9e6JU34bec9EeCEmB-46tUSXXTAJrckSO4,12314
+pytcl/mathematical_functions/combinatorics/combinatorics.py,sha256=LzVxY3E5_pnpVl9XlcRdQjWhSSY8Fa1JUVYA6J25fro,12354
 pytcl/mathematical_functions/continuous_optimization/__init__.py,sha256=lck60eeCUOsRpEzPHBY3kiLKwNz_fhmYoUGP3lTmTwk,55
 pytcl/mathematical_functions/geometry/__init__.py,sha256=DhCmux9-6zxYRzlhQ9du18kvUL-leiiZwdd3Cmb5WX0,1092
-pytcl/mathematical_functions/geometry/geometry.py,sha256=l63wQnhCtJwVHZOJeONX1qyJ5Sedji8etgxwJCFtH8Y,16403
+pytcl/mathematical_functions/geometry/geometry.py,sha256=iLKqTlLEGm8IScEDHEWOBQz5xfj-fflzIOzZaJ8fPtE,16522
 pytcl/mathematical_functions/interpolation/__init__.py,sha256=lK4Rs0Ds_fzf9q0n6id5epdN0U8V7yD87dS-w1hvN8I,741
 pytcl/mathematical_functions/interpolation/interpolation.py,sha256=2cXMDgWBjWDGHnK1K_lawFlJL8oPl5AQGf9MNgsESfo,12610
 pytcl/mathematical_functions/numerical_integration/__init__.py,sha256=iXiHzyV_KIhCv7tXErXlN1_fUEACN6yN3CYDHRA7esw,974
-pytcl/mathematical_functions/numerical_integration/quadrature.py,sha256=ZRMKs0vbcgFDe1Sr8sjyEOkALLmJU4zKRJjoPEcXrUc,15670
+pytcl/mathematical_functions/numerical_integration/quadrature.py,sha256=3MwNCjdMfopgtJjXWxn-q9VyawI1IArkNBXqa_kRMj4,15716
 pytcl/mathematical_functions/polynomials/__init__.py,sha256=WJWZcoQhnvy5f59-kncMTgD9mCtgwfDgULvDYYHS5ys,43
 pytcl/mathematical_functions/signal_processing/__init__.py,sha256=_SzzBVtxmSvP8FKeogRdNmFo8FOVDDoexVOqd-lE7do,2325
-pytcl/mathematical_functions/signal_processing/detection.py,sha256=9F0xdy3hMat1czSWAQYMExn0kY5DBRpyBneAfjjHUVI,30377
-pytcl/mathematical_functions/signal_processing/filters.py,sha256=8Ojf4h4rfiucBXqUmB1odvHH41Gf3rPwmWCMKb-qzWk,23435
-pytcl/mathematical_functions/signal_processing/matched_filter.py,sha256=AahJZRZk2IIXzRL7www0n8bc0XoKabaLOe8yYNSjuDY,22893
+pytcl/mathematical_functions/signal_processing/detection.py,sha256=1Uok0p82t2zB7BWZB6GEkUCwuoM3WB8SRykTrVRdsIo,30612
+pytcl/mathematical_functions/signal_processing/filters.py,sha256=xiB8VSFqTFkBCAom0yIWw7pK3Zjm6l-VZ_DAtwJMxFA,23676
+pytcl/mathematical_functions/signal_processing/matched_filter.py,sha256=El7XcUbunmXA7s-btXX_R4fgNx8d6QNa86GJETg4zAQ,23134
 pytcl/mathematical_functions/special_functions/__init__.py,sha256=AJBCKj32daQxdahUQckW0bWowzOoapxni2eZnVXERdg,3859
-pytcl/mathematical_functions/special_functions/bessel.py,sha256=M0mwLQBaUXEHA8wyKReJ2D66I1v1XR7y-txAipd-WDs,14377
-pytcl/mathematical_functions/special_functions/debye.py,sha256=5u-2KIQniwoVlqGSQguYhO7RcFQXtvY0aetiDiMYtQ0,9576
+pytcl/mathematical_functions/special_functions/bessel.py,sha256=Xe62y2vrDwdJy3fR4U8_e8TAgisXIWJ94J7wu_xk0kI,14603
+pytcl/mathematical_functions/special_functions/debye.py,sha256=eH7Y5qq5j-AMKKx7y8uMS_l_pb6z9_3SG6Igvnc1Fdg,9626
 pytcl/mathematical_functions/special_functions/elliptic.py,sha256=WyzBkrfZufIR5dUmCKGcxp6KNpVDrU89NGLDyRrZOqQ,7418
-pytcl/mathematical_functions/special_functions/error_functions.py,sha256=a3SS8FYAMRv1KdCmebOZL95yjvVt9gZRF2XOjHvQ9M8,6253
-pytcl/mathematical_functions/special_functions/gamma_functions.py,sha256=xXN_9SCokH10HjE8PpaPKHYVK_RZRHRAbZgR2mZYIAA,10191
-pytcl/mathematical_functions/special_functions/hypergeometric.py,sha256=5C4dXv3XxjyeGGVH-0i22NSLbAqkcPTR3kZ2J_GTles,11364
+pytcl/mathematical_functions/special_functions/error_functions.py,sha256=24-XRcAW-KF6ixEU5V7iB7brD8UVPPQ0b4Zz8gscRdw,6321
+pytcl/mathematical_functions/special_functions/gamma_functions.py,sha256=XB7NHVgKzOEVKpUScqvG3L220bvwIRuUnm_ayO7lJRk,10243
+pytcl/mathematical_functions/special_functions/hypergeometric.py,sha256=mCBf5NPl0mOkwvIwAUp-sbXshin5HyGsdqEeGbYt3wQ,11428
 pytcl/mathematical_functions/special_functions/lambert_w.py,sha256=ivRc4KH5Lwoxb_yijrJEwG0ITa0hhcYF7_gCfVBBNW4,6855
 pytcl/mathematical_functions/special_functions/marcum_q.py,sha256=OZ5QjIB1e_XvRG8A-3dbZ13YXHtdk2EYVEPaqtgVr14,9580
 pytcl/mathematical_functions/statistics/__init__.py,sha256=dfypStgmnFmOrnWcm-3CEvLinONHraFgx9O66_37bqw,1278
 pytcl/mathematical_functions/statistics/distributions.py,sha256=icfFIIKCEFzkpFHuYGWL197nm8wvS7UPJlr9kd_uEgw,19373
 pytcl/mathematical_functions/statistics/estimators.py,sha256=TLnYXSwk5MzBakZrzDBupbOB3ONmJI7q1-oB2xuSVQM,10831
 pytcl/mathematical_functions/transforms/__init__.py,sha256=SPXSKHjqR6B_8pvgtbtOnEiCpU-u0JF2s7hAlhb0BbI,2343
-pytcl/mathematical_functions/transforms/fourier.py,sha256=QH6OaTzw4kN6M-DuSmwB_5b-wu_4yP5I2CUmNEyLORM,20737
-pytcl/mathematical_functions/transforms/stft.py,sha256=zQapXl-v69_RDPwMqci83jah17GyAfnr3gx0budv2Cg,18619
-pytcl/mathematical_functions/transforms/wavelets.py,sha256=dm273Z_t13BlEVSlHTaGE7jR1ocugL7lEkcO499U7bY,21656
+pytcl/mathematical_functions/transforms/fourier.py,sha256=yD1CcH7sdPlrOmBgL7JoMiPNgN8ee7bTwvblgRRf7l4,20823
+pytcl/mathematical_functions/transforms/stft.py,sha256=olDzNH02Nta5GoeEdsdX1tTVKODr6OxLEYt_h3ZtMgA,18878
+pytcl/mathematical_functions/transforms/wavelets.py,sha256=g7ra-uk-HnQmJRCj1VvJuuz8t8FW55kCENUkx0vPrP4,21807
 pytcl/misc/__init__.py,sha256=SCHf_lQVfdl2gwUluHBiIloTF8HRH8EkgYfbNr7zOug,33
 pytcl/navigation/__init__.py,sha256=k1_x_FnnPrIzGeNu7zejPtPubIhweBgCfwqlZJEMw0I,6042
-pytcl/navigation/geodesy.py,sha256=KXRQqOrJGbxWQ4yrZI9jfMDvaoUx_4RL8mTWUHhBJX0,19694
-pytcl/navigation/great_circle.py,sha256=y5YHBie21j1a1ac7OziEgg_jgUT1FpltgkTA5AGFGsk,23251
+pytcl/navigation/geodesy.py,sha256=zrpFhPFLr3N1byeE1pxXh-SmPixjuuoGK3_izEnAAdw,19719
+pytcl/navigation/great_circle.py,sha256=u8iqMV6RNsAyzATzjJU11QFGA2pGEaiFJRakQwxTTs0,23326
 pytcl/navigation/ins.py,sha256=OIi8_RjrgEYl0MFpJEFMjIlpgX8DYGTEhdLEvqG-ABU,31151
 pytcl/navigation/ins_gnss.py,sha256=euKF5JGgwmVBsw3jBf7_wa2z1BpZeVbSNmBuwzhGS6c,30157
 pytcl/navigation/rhumb.py,sha256=lr1c3iEXfoOSfIyyXSRWv6He5TlaxEHbJy-dhqM1gRw,18224
@@ -139,27 +139,27 @@ pytcl/performance_evaluation/estimation_metrics.py,sha256=X1ZCpp8m6DV14N2wbMvlRw
 pytcl/performance_evaluation/track_metrics.py,sha256=Nd3royJkAelZV-Qggl8i72e7WocCxWomgliArvVAEkc,13342
 pytcl/physical_values/__init__.py,sha256=SGbg6b0d4dWebE3baW4OlJshL00grG5E4wABw6jxl20,44
 pytcl/plotting/__init__.py,sha256=YtYnKYHL5lN6EaT_bwwR3h89NW0HSMToIWHhHBxcidY,3126
-pytcl/plotting/coordinates.py,sha256=h39H855Qjqtcly62m09demaOFpfMs_8EF_nXhoLBSBs,17198
+pytcl/plotting/coordinates.py,sha256=lTNBwlq_4hnQx_w6RIX6X35Ke3YMFvqV_huJrcFCvNs,17362
 pytcl/plotting/ellipses.py,sha256=bcns6dfNK4bwA_QBshscYhbAz_5wegwyqjDzzoUdWsQ,12465
 pytcl/plotting/metrics.py,sha256=zbJr5P2kQg7-rGpGHsN7rC02S0JLOpPUZeoscQem7uQ,18148
-pytcl/plotting/tracks.py,sha256=cqZG71ZHM-wDSzjH4I4kCESORIiZjmGesQtADmAi4gc,23034
+pytcl/plotting/tracks.py,sha256=3V_78oPEGi7lsTNk-lhYRffXWNHH0-Lj2oNw2HIKRJQ,23054
 pytcl/scheduling/__init__.py,sha256=jTqMSKcsCrWU_Fh6WaT6BW5WatNHyyEYjFbsv6X18Oc,39
 pytcl/static_estimation/__init__.py,sha256=sSEhqq35jq_MpRLnBtWjKXwGZ9dqIw71iwji-TNwXmc,2222
 pytcl/static_estimation/least_squares.py,sha256=8ouOyRGC7K-W8fynZMWlc2-KAFojvTbuzcqi5uS_sVA,13432
-pytcl/static_estimation/maximum_likelihood.py,sha256=P6BKMcuzzDu_Qc6mX9KLI-zPWFX_NabbA6AKYjkNBcY,21581
-pytcl/static_estimation/robust.py,sha256=egBLKWmo6d9PzP6LDh0J7ee4j6hYZh8kAb9TR5uC2so,18527
+pytcl/static_estimation/maximum_likelihood.py,sha256=nt1WShfZ0PlT_eA4gu2WcLiz9zZO9r90m_1PhWqDDgY,21821
+pytcl/static_estimation/robust.py,sha256=mpDUcc3-8F42SVGxXMv20huzekoGWattAa4px9tAZNM,18623
 pytcl/terrain/__init__.py,sha256=e7plNQI5Y_jpZ24r82AgqdX0ChmmyYoeT7HReclnGXc,3228
 pytcl/terrain/dem.py,sha256=rg2o0h0ZDrfxvtYhnE2A5tdzRnCmqcihu4w1uNJdH3Y,20814
-pytcl/terrain/loaders.py,sha256=KBs1vdYUYW-0ETIujRv4-WxO-bExZk-FvPLY5l6gyTc,27028
+pytcl/terrain/loaders.py,sha256=FGRnyzKh03LrpXICocbIK3MhTW7o9nsVvsm3iuIUqK4,27066
 pytcl/terrain/visibility.py,sha256=nIJr9AVk7C8GCpJV4UDvUjhmAieycWD8BLepAMUBMIQ,22739
 pytcl/trackers/__init__.py,sha256=Gw79xlSIUzdPV8bN1slNWUlGxE3d-NsVmbMygkYVV20,1151
-pytcl/trackers/hypothesis.py,sha256=RApWfji-f0-a68KnAJela0BvPdIlOY_FV_cYJFmVUoE,17353
-pytcl/trackers/mht.py,sha256=7mwhMmja3ri2wnx7W1wueDGn2r3ArwAxJDPUJ7IZAkQ,20617
-pytcl/trackers/multi_target.py,sha256=hvt89ERhMwpcHcIJeKHnkQSKdE3_LoRiX-gbaGoo300,10516
+pytcl/trackers/hypothesis.py,sha256=ubK-q89cYayahSHIw5sVYD1fpRUEB0XvC6rQnI1WACA,17361
+pytcl/trackers/mht.py,sha256=osEOXMaCeTt1eVn_E08dLRhEvBroVmf8b81zO5Zp1lU,20720
+pytcl/trackers/multi_target.py,sha256=RDITa0xnbgtVYAMj5XXp4lljo5lZ2zAAc02KZlOjxbQ,10526
 pytcl/trackers/single_target.py,sha256=Yy3FwaNTArMWcaod-0HVeiioNV4xLWxNDn_7ZPVqQYs,6562
 pytcl/transponders/__init__.py,sha256=5fL4u3lKCYgPLo5uFeuZbtRZkJPABntuKYGUvVgMMEI,41
-nrl_tracker-1.7.0.dist-info/LICENSE,sha256=rB5G4WppIIUzMOYr2N6uyYlNJ00hRJqE5tie6BMvYuE,1612
-nrl_tracker-1.7.0.dist-info/METADATA,sha256=Tifq_bsT8RjJE-_Ty5DDFPUomTamE68K7v6uIDs28iA,10664
-nrl_tracker-1.7.0.dist-info/WHEEL,sha256=pL8R0wFFS65tNSRnaOVrsw9EOkOqxLrlUPenUYnJKNo,91
-nrl_tracker-1.7.0.dist-info/top_level.txt,sha256=17megxcrTPBWwPZTh6jTkwTKxX7No-ZqRpyvElnnO-s,6
-nrl_tracker-1.7.0.dist-info/RECORD,,
+nrl_tracker-1.7.1.dist-info/LICENSE,sha256=rB5G4WppIIUzMOYr2N6uyYlNJ00hRJqE5tie6BMvYuE,1612
+nrl_tracker-1.7.1.dist-info/METADATA,sha256=kzRylzn5xpwFm-Lj6DqrEYgMBMoAkzb7qWmGBaswGNA,10760
+nrl_tracker-1.7.1.dist-info/WHEEL,sha256=pL8R0wFFS65tNSRnaOVrsw9EOkOqxLrlUPenUYnJKNo,91
+nrl_tracker-1.7.1.dist-info/top_level.txt,sha256=17megxcrTPBWwPZTh6jTkwTKxX7No-ZqRpyvElnnO-s,6
+nrl_tracker-1.7.1.dist-info/RECORD,,

pytcl/__init__.py

@@ -20,7 +20,7 @@ References
        no. 5, pp. 18-27, May 2017.
 """
 
-__version__ = "1.6.0"
+__version__ = "1.7.1"
 __author__ = "Python Port Contributors"
 __original_author__ = "David F. Crouse, Naval Research Laboratory"
 
@@ -44,7 +44,7 @@ from pytcl import (
 
 # Version tuple for programmatic access
 # Handle dev/alpha/beta/rc suffixes by extracting only numeric parts
-def _parse_version(version_str):
+def _parse_version(version_str: str) -> tuple[int, ...]:
     """Parse version string into tuple of integers."""
     import re
 

pytcl/assignment_algorithms/__init__.py

@@ -32,6 +32,21 @@ from pytcl.assignment_algorithms.jpda import (
     jpda_probabilities,
     jpda_update,
 )
+from pytcl.assignment_algorithms.nd_assignment import (
+    AssignmentNDResult,
+    auction_assignment_nd,
+    detect_dimension_conflicts,
+    greedy_assignment_nd,
+    relaxation_assignment_nd,
+    validate_cost_tensor,
+)
+from pytcl.assignment_algorithms.network_flow import (
+    FlowStatus,
+    MinCostFlowResult,
+    assignment_to_flow_network,
+    min_cost_assignment_via_flow,
+    min_cost_flow_successive_shortest_paths,
+)
 from pytcl.assignment_algorithms.three_dimensional import (
     Assignment3DResult,
     assign3d,
@@ -51,21 +66,6 @@ from pytcl.assignment_algorithms.two_dimensional import (
     murty,
     ranked_assignments,
 )
-from pytcl.assignment_algorithms.nd_assignment import (
-    AssignmentNDResult,
-    auction_assignment_nd,
-    detect_dimension_conflicts,
-    greedy_assignment_nd,
-    relaxation_assignment_nd,
-    validate_cost_tensor,
-)
-from pytcl.assignment_algorithms.network_flow import (
-    FlowStatus,
-    MinCostFlowResult,
-    assignment_to_flow_network,
-    min_cost_assignment_via_flow,
-    min_cost_flow_successive_shortest_paths,
-)
 
 __all__ = [
     # 2D Assignment

pytcl/assignment_algorithms/gating.py

@@ -5,7 +5,7 @@ This module provides gating methods to determine which measurements
 fall within a validation region around predicted track states.
 """
 
-from typing import List, Tuple
+from typing import Any, List, Tuple
 
 import numpy as np
 from numba import njit
@@ -15,8 +15,8 @@ from scipy.stats import chi2
 
 @njit(cache=True, fastmath=True)
 def _mahalanobis_distance_2d(
-    innovation: np.ndarray,
-    S_inv: np.ndarray,
+    innovation: np.ndarray[Any, Any],
+    S_inv: np.ndarray[Any, Any],
 ) -> float:
     """JIT-compiled Mahalanobis distance for 2D innovations."""
     return innovation[0] * (
@@ -26,8 +26,8 @@ def _mahalanobis_distance_2d(
 
 @njit(cache=True, fastmath=True)
 def _mahalanobis_distance_3d(
-    innovation: np.ndarray,
-    S_inv: np.ndarray,
+    innovation: np.ndarray[Any, Any],
+    S_inv: np.ndarray[Any, Any],
 ) -> float:
     """JIT-compiled Mahalanobis distance for 3D innovations."""
     result = 0.0
@@ -39,8 +39,8 @@ def _mahalanobis_distance_3d(
 
 @njit(cache=True, fastmath=True)
 def _mahalanobis_distance_general(
-    innovation: np.ndarray,
-    S_inv: np.ndarray,
+    innovation: np.ndarray[Any, Any],
+    S_inv: np.ndarray[Any, Any],
 ) -> float:
     """JIT-compiled Mahalanobis distance for general dimension."""
     n = len(innovation)
@@ -341,9 +341,9 @@ def compute_gate_volume(
 
 @njit(cache=True, fastmath=True, parallel=False)
 def mahalanobis_batch(
-    innovations: np.ndarray,
-    S_inv: np.ndarray,
-    output: np.ndarray,
+    innovations: np.ndarray[Any, Any],
+    S_inv: np.ndarray[Any, Any],
+    output: np.ndarray[Any, Any],
 ) -> None:
     """
     Compute Mahalanobis distances for a batch of innovations.

pytcl/assignment_algorithms/jpda.py

@@ -9,7 +9,7 @@ This is more sophisticated than GNN which makes hard assignment decisions,
 as JPDA can handle measurement origin uncertainty in cluttered environments.
 """
 
-from typing import List, NamedTuple, Optional, Tuple
+from typing import Any, List, NamedTuple, Optional
 
 import numpy as np
 from numba import njit
@@ -24,7 +24,7 @@ class JPDAResult(NamedTuple):
 
     Attributes
     ----------
-    association_probs : ndarray
+    association_probs : ndarray[Any]
         Association probability matrix of shape (n_tracks, n_measurements + 1).
         association_probs[i, j] is the probability that track i is associated
         with measurement j. The last column (j = n_measurements) represents
@@ -32,9 +32,9 @@ class JPDAResult(NamedTuple):
     marginal_probs : list of ndarray
         List of marginal association probabilities for each track.
         marginal_probs[i][j] = P(measurement j originated from track i).
-    likelihood_matrix : ndarray
+    likelihood_matrix : ndarray[Any]
         Measurement likelihood matrix of shape (n_tracks, n_measurements).
-    gated : ndarray
+    gated : ndarray[Any]
         Boolean matrix indicating which track-measurement pairs passed gating.
     """
 
@@ -53,7 +53,7 @@ class JPDAUpdate(NamedTuple):
         Updated state estimates for each track.
     covariances : list of ndarray
         Updated covariances for each track (includes spread of means).
-    association_probs : ndarray
+    association_probs : ndarray[Any]
         Association probability matrix.
     innovations : list of ndarray
         Combined weighted innovations for each track.
@@ -66,8 +66,8 @@ class JPDAUpdate(NamedTuple):
 
 
 def compute_measurement_likelihood(
-    innovation: NDArray,
-    innovation_cov: NDArray,
+    innovation: NDArray[Any],
+    innovation_cov: NDArray[Any],
     detection_prob: float = 1.0,
 ) -> float:
     """
@@ -75,9 +75,9 @@ def compute_measurement_likelihood(
 
     Parameters
     ----------
-    innovation : ndarray
+    innovation : ndarray[Any]
         Measurement innovation (residual), shape (m,).
-    innovation_cov : ndarray
+    innovation_cov : ndarray[Any]
         Innovation covariance, shape (m, m).
     detection_prob : float
         Probability of detection (Pd).
@@ -102,14 +102,14 @@ def compute_measurement_likelihood(
 
 
 def compute_likelihood_matrix(
-    track_states: List[NDArray],
-    track_covariances: List[NDArray],
-    measurements: NDArray,
-    H: NDArray,
-    R: NDArray,
+    track_states: list[NDArray[Any]],
+    track_covariances: list[NDArray[Any]],
+    measurements: NDArray[Any],
+    H: NDArray[Any],
+    R: NDArray[Any],
     detection_prob: float = 1.0,
     gate_threshold: Optional[float] = None,
-) -> Tuple[NDArray, NDArray]:
+) -> tuple[NDArray[Any], NDArray[Any]]:
     """
     Compute likelihood matrix for all track-measurement pairs.
 
@@ -119,11 +119,11 @@ def compute_likelihood_matrix(
         State estimates for each track.
     track_covariances : list of ndarray
         Covariances for each track.
-    measurements : ndarray
+    measurements : ndarray[Any]
         Measurements, shape (n_meas, m).
-    H : ndarray
+    H : ndarray[Any]
         Measurement matrix, shape (m, n).
-    R : ndarray
+    R : ndarray[Any]
         Measurement noise covariance, shape (m, m).
     detection_prob : float
         Probability of detection.
@@ -132,9 +132,9 @@ def compute_likelihood_matrix(
 
     Returns
     -------
-    likelihood_matrix : ndarray
+    likelihood_matrix : ndarray[Any]
         Likelihood values, shape (n_tracks, n_meas).
-    gated : ndarray
+    gated : ndarray[Any]
         Boolean gating matrix, shape (n_tracks, n_meas).
     """
     n_tracks = len(track_states)
@@ -163,11 +163,11 @@ def compute_likelihood_matrix(
 
 
 def jpda_probabilities(
-    likelihood_matrix: NDArray,
-    gated: NDArray,
+    likelihood_matrix: NDArray[Any],
+    gated: NDArray[Any],
     detection_prob: float = 1.0,
     clutter_density: float = 1e-6,
-) -> NDArray:
+) -> NDArray[Any]:
     """
     Compute JPDA association probabilities.
 
@@ -176,9 +176,9 @@ def jpda_probabilities(
 
     Parameters
     ----------
-    likelihood_matrix : ndarray
+    likelihood_matrix : ndarray[Any]
         Likelihood values, shape (n_tracks, n_meas).
-    gated : ndarray
+    gated : ndarray[Any]
         Boolean gating matrix, shape (n_tracks, n_meas).
     detection_prob : float
         Probability of detection (Pd).
@@ -187,7 +187,7 @@ def jpda_probabilities(
 
     Returns
     -------
-    beta : ndarray
+    beta : ndarray[Any]
         Association probability matrix, shape (n_tracks, n_meas + 1).
         beta[i, j] = P(measurement j is from track i) for j < n_meas.
         beta[i, n_meas] = P(track i has no measurement).
@@ -218,11 +218,11 @@ def jpda_probabilities(
 
 
 def _jpda_exact(
-    likelihood_matrix: NDArray,
-    gated: NDArray,
+    likelihood_matrix: NDArray[Any],
+    gated: NDArray[Any],
     detection_prob: float,
     clutter_density: float,
-) -> NDArray:
+) -> NDArray[Any]:
     """
     Exact JPDA computation via hypothesis enumeration.
 
@@ -241,8 +241,8 @@ def _jpda_exact(
     def generate_hypotheses(
         meas_idx: int,
         current_assignment: List[int],
-        used_tracks: set,
-    ):
+        used_tracks: set[Any],
+    ) -> Any:
         """Recursively generate valid hypotheses."""
         if meas_idx == n_meas:
             yield current_assignment.copy()
@@ -268,11 +268,11 @@ def _jpda_exact(
     hypothesis_probs = []
     hypothesis_assignments = []
 
-    for assignment in generate_hypotheses(0, [], set()):
+    for assignment in generate_hypotheses(0, [], set[Any]()):
         # Compute probability of this hypothesis
         prob = 1.0
 
-        detected_tracks = set()
+        detected_tracks = set[Any]()
         for j, track_idx in enumerate(assignment):
             if track_idx == -1:
                 # Measurement j is clutter
@@ -301,7 +301,7 @@ def _jpda_exact(
     for h_idx, (assignment, prob) in enumerate(
         zip(hypothesis_assignments, hypothesis_probs)
     ):
-        detected_tracks = set()
+        detected_tracks = set[Any]()
         for j, track_idx in enumerate(assignment):
             if track_idx >= 0:
                 beta[track_idx, j] += prob
@@ -317,11 +317,11 @@ def _jpda_exact(
 
 @njit(cache=True)
 def _jpda_approximate_core(
-    likelihood_matrix: np.ndarray,
-    gated: np.ndarray,
+    likelihood_matrix: np.ndarray[Any, Any],
+    gated: np.ndarray[Any, Any],
     detection_prob: float,
     clutter_density: float,
-) -> np.ndarray:
+) -> np.ndarray[Any, Any]:
     """JIT-compiled core of approximate JPDA computation."""
     n_tracks = likelihood_matrix.shape[0]
     n_meas = likelihood_matrix.shape[1]
@@ -369,11 +369,11 @@ def _jpda_approximate_core(
 
 
 def _jpda_approximate(
-    likelihood_matrix: NDArray,
-    gated: NDArray,
+    likelihood_matrix: NDArray[Any],
+    gated: NDArray[Any],
     detection_prob: float,
     clutter_density: float,
-) -> NDArray:
+) -> NDArray[Any]:
     """
     Approximate JPDA using parametric approach.
 

pytcl/assignment_algorithms/nd_assignment.py

@@ -212,14 +212,15 @@ def relaxation_assignment_nd(
         result_relaxed = greedy_assignment_nd(relaxed_cost)
 
         # Compute lower bound from relaxed solution
-        lower_bound = (
-            result_relaxed.cost
-            + sum(np.sum(lambdas[d]) for d in range(n_dims))
+        lower_bound = result_relaxed.cost + sum(
+            np.sum(lambdas[d]) for d in range(n_dims)
         )
 
         # Extract solution from relaxed problem
         if len(result_relaxed.assignments) > 0:
-            actual_cost = float(np.sum(cost_tensor[tuple(result_relaxed.assignments.T)]))
+            actual_cost = float(
+                np.sum(cost_tensor[tuple(result_relaxed.assignments.T)])
+            )
 
             if actual_cost < best_cost:
                 best_cost = actual_cost