nrl-tracker 1.7.3__tar.gz → 1.7.5__tar.gz

{nrl_tracker-1.7.3/nrl_tracker.egg-info → nrl_tracker-1.7.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 1.7.3
+Version: 1.7.5
 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

{nrl_tracker-1.7.3 → nrl_tracker-1.7.5/nrl_tracker.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 1.7.3
+Version: 1.7.5
 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

{nrl_tracker-1.7.3 → nrl_tracker-1.7.5}/nrl_tracker.egg-info/SOURCES.txt

@@ -189,6 +189,7 @@ tests/test_great_circle.py
 tests/test_h_infinity.py
 tests/test_ins.py
 tests/test_ins_gnss.py
+tests/test_jpda.py
 tests/test_kalman_filters.py
 tests/test_mathematical_functions.py
 tests/test_maximum_likelihood.py
@@ -208,7 +209,7 @@ tests/test_signal_processing.py
 tests/test_smoothers.py
 tests/test_spatial_containers_parametrized.py
 tests/test_spatial_structures.py
-tests/test_special_functions_phase12.py
+tests/test_special_functions.py
 tests/test_special_orbits.py
 tests/test_static_estimation.py
 tests/test_terrain.py
@@ -218,7 +219,5 @@ tests/test_tod_mod.py
 tests/test_trackers.py
 tests/test_tracking_containers.py
 tests/test_transforms.py
-tests/test_v030_comprehensive.py
-tests/test_v030_features.py
 tests/test_validation.py
 tests/unit/test_core.py

{nrl_tracker-1.7.3 → nrl_tracker-1.7.5}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "nrl-tracker"
-version = "1.7.3"
+version = "1.7.5"
 description = "Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms"
 readme = "README.md"
 authors = [

{nrl_tracker-1.7.3 → nrl_tracker-1.7.5}/pytcl/__init__.py

@@ -6,7 +6,8 @@ systems, dynamic models, estimation algorithms, and mathematical functions.
 
 This is a Python port of the U.S. Naval Research Laboratory's Tracker Component
 Library originally written in MATLAB.
-
+**Current Version:** 1.7.4 (January 4, 2026)
+**Status:** Production-ready, 2,057 tests passing, 76% line coverage
 Examples
 --------
 >>> import pytcl as pytcl
@@ -20,7 +21,7 @@ References
        no. 5, pp. 18-27, May 2017.
 """
 
-__version__ = "1.7.3"
+__version__ = "1.7.5"
 __author__ = "Python Port Contributors"
 __original_author__ = "David F. Crouse, Naval Research Laboratory"
 

nrl_tracker-1.7.5/tests/test_jpda.py

@@ -0,0 +1,236 @@
+"""
+Tests for Joint Probabilistic Data Association (JPDA) algorithms.
+
+This module contains tests for JPDA-based multi-target association and tracking.
+Tests are migrated from v0.3.0 comprehensive test suite.
+"""
+
+import numpy as np
+import pytest
+from numpy.testing import assert_allclose
+
+# =============================================================================
+# JPDA Basic Tests
+# =============================================================================
+
+
+class TestJPDA:
+    """Tests for Joint Probabilistic Data Association."""
+
+    def test_jpda_probabilities_single_track(self):
+        """Test JPDA with single track."""
+        from pytcl.assignment_algorithms.jpda import jpda_probabilities
+
+        # Single track, two measurements
+        likelihood = np.array([[0.8, 0.1]])
+        gated = np.array([[True, True]])
+
+        beta = jpda_probabilities(
+            likelihood, gated, detection_prob=0.9, clutter_density=0.01
+        )
+
+        assert beta.shape == (1, 3)  # 1 track, 2 meas + 1 for no-meas
+        # Probabilities should sum to 1 for each track
+        assert_allclose(np.sum(beta[0, :]), 1.0, rtol=1e-6)
+        # Higher likelihood measurement should have higher probability
+        assert beta[0, 0] > beta[0, 1]
+
+    def test_jpda_update_basic(self):
+        """Test basic JPDA update."""
+        from pytcl.assignment_algorithms.jpda import jpda_update
+
+        x1 = np.array([0.0, 1.0])
+        x2 = np.array([5.0, -1.0])
+        P = np.eye(2) * 0.5
+
+        measurements = np.array([[0.1], [5.2], [10.0]])
+        H = np.array([[1.0, 0.0]])
+        R = np.array([[0.1]])
+
+        result = jpda_update([x1, x2], [P, P], measurements, H, R)
+
+        assert len(result.states) == 2
+        assert len(result.covariances) == 2
+        assert result.association_probs.shape == (2, 4)  # 2 tracks, 3 meas + no-meas
+
+    def test_jpda_no_measurements(self):
+        """Test JPDA with no measurements."""
+        from pytcl.assignment_algorithms.jpda import jpda_update
+
+        x = np.array([0.0, 1.0])
+        P = np.eye(2) * 0.5
+
+        measurements = np.array([]).reshape(0, 1)
+        H = np.array([[1.0, 0.0]])
+        R = np.array([[0.1]])
+
+        result = jpda_update([x], [P], measurements, H, R)
+
+        # With no measurements, state should be unchanged
+        assert_allclose(result.states[0], x)
+
+    def test_jpda_result_convenience(self):
+        """Test JPDA convenience function."""
+        from pytcl.assignment_algorithms import jpda
+
+        x1 = np.array([0.0, 1.0])
+        x2 = np.array([5.0, -1.0])
+        P = np.eye(2) * 0.5
+
+        measurements = np.array([[0.1], [5.2]])
+        H = np.array([[1.0, 0.0]])
+        R = np.array([[0.1]])
+
+        result = jpda([x1, x2], [P, P], measurements, H, R)
+
+        assert result.association_probs.shape == (2, 3)
+        assert len(result.marginal_probs) == 2
+        assert result.likelihood_matrix.shape == (2, 2)
+
+
+# =============================================================================
+# JPDA Comprehensive Tests (v0.3.0)
+# =============================================================================
+
+
+class TestJPDAComprehensive:
+    """Comprehensive tests for JPDA algorithm robustness and edge cases."""
+
+    def test_jpda_probabilities_normalization(self):
+        """Test JPDA probabilities sum to 1."""
+        from pytcl.assignment_algorithms.jpda import jpda_probabilities
+
+        # Multiple tracks, multiple measurements
+        likelihood = np.array([[0.8, 0.1, 0.05], [0.1, 0.7, 0.1], [0.05, 0.1, 0.6]])
+        gated = np.ones_like(likelihood, dtype=bool)
+
+        beta = jpda_probabilities(likelihood, gated, detection_prob=0.9)
+
+        # Each track's probabilities should sum to 1
+        for i in range(3):
+            assert_allclose(np.sum(beta[i, :]), 1.0, rtol=1e-6)
+
+    def test_jpda_high_clutter(self):
+        """Test JPDA behavior with high clutter density."""
+        from pytcl.assignment_algorithms.jpda import jpda_probabilities
+
+        likelihood = np.array([[0.5, 0.3]])
+        gated = np.array([[True, True]])
+
+        # High clutter should increase miss probability
+        beta_low_clutter = jpda_probabilities(
+            likelihood, gated, detection_prob=0.9, clutter_density=0.001
+        )
+        beta_high_clutter = jpda_probabilities(
+            likelihood, gated, detection_prob=0.9, clutter_density=0.1
+        )
+
+        # With high clutter, more probability goes to "no measurement"
+        assert beta_high_clutter[0, -1] > beta_low_clutter[0, -1]
+
+    def test_jpda_low_detection_probability(self):
+        """Test JPDA with low detection probability."""
+        from pytcl.assignment_algorithms.jpda import jpda_probabilities
+
+        likelihood = np.array([[0.8, 0.1]])
+        gated = np.array([[True, True]])
+
+        beta_high_pd = jpda_probabilities(
+            likelihood, gated, detection_prob=0.99, clutter_density=0.01
+        )
+        beta_low_pd = jpda_probabilities(
+            likelihood, gated, detection_prob=0.5, clutter_density=0.01
+        )
+
+        # Low detection prob should increase miss probability
+        assert beta_low_pd[0, -1] > beta_high_pd[0, -1]
+
+    def test_jpda_gating_effect(self):
+        """Test that gating correctly excludes measurements."""
+        from pytcl.assignment_algorithms.jpda import jpda_probabilities
+
+        likelihood = np.array([[0.8, 0.7, 0.1]])
+        gated = np.array([[True, False, True]])  # Middle measurement not gated
+
+        beta = jpda_probabilities(likelihood, gated, detection_prob=0.9)
+
+        # Gated-out measurement should have zero probability
+        assert_allclose(beta[0, 1], 0.0)
+
+    def test_jpda_update_with_ambiguous_measurements(self):
+        """Test JPDA update handles ambiguous measurements."""
+        from pytcl.assignment_algorithms.jpda import jpda_update
+
+        x = np.array([0.0, 1.0])
+        P = np.eye(2) * 0.1
+
+        # Two measurements, both plausible
+        measurements = np.array([[0.1], [-0.1]])
+        H = np.array([[1.0, 0.0]])
+        R = np.array([[0.1]])
+
+        result = jpda_update([x], [P], measurements, H, R)
+
+        # JPDA should produce valid state and covariance
+        assert result.states[0].shape == (2,)
+        assert result.covariances[0].shape == (2, 2)
+        # Covariance should remain positive definite
+        eigvals = np.linalg.eigvalsh(result.covariances[0])
+        assert np.all(eigvals > 0)
+
+    def test_jpda_multiple_tracks(self):
+        """Test JPDA with multiple tracks."""
+        from pytcl.assignment_algorithms.jpda import jpda_update
+
+        # 3 tracks at different positions
+        tracks = [
+            np.array([0.0, 1.0]),
+            np.array([5.0, 0.0]),
+            np.array([10.0, -1.0]),
+        ]
+        covs = [np.eye(2) * 0.1 for _ in range(3)]
+
+        # 3 measurements near each track
+        measurements = np.array([[0.1], [5.1], [9.9]])
+        H = np.array([[1.0, 0.0]])
+        R = np.array([[0.1]])
+
+        result = jpda_update(tracks, covs, measurements, H, R)
+
+        assert len(result.states) == 3
+        assert result.association_probs.shape == (3, 4)  # 3 tracks, 3+1 columns
+
+    def test_jpda_empty_tracks(self):
+        """Test JPDA handles empty track list."""
+        from pytcl.assignment_algorithms.jpda import jpda_update
+
+        measurements = np.array([[0.1], [0.2]])
+        H = np.array([[1.0, 0.0]])
+        R = np.array([[0.1]])
+
+        result = jpda_update([], [], measurements, H, R)
+
+        assert len(result.states) == 0
+        assert len(result.covariances) == 0
+
+    def test_jpda_single_measurement_per_track(self):
+        """Test JPDA when each track has exactly one measurement."""
+        from pytcl.assignment_algorithms.jpda import jpda_update
+
+        tracks = [np.array([0.0, 1.0]), np.array([10.0, -1.0])]
+        covs = [np.eye(2) * 0.01, np.eye(2) * 0.01]  # Very small covariance
+
+        # Measurements clearly associated with each track
+        measurements = np.array([[0.01], [10.01]])
+        H = np.array([[1.0, 0.0]])
+        R = np.array([[0.001]])
+
+        result = jpda_update(tracks, covs, measurements, H, R)
+
+        # Each track should strongly associate with its measurement
+        assert result.association_probs[0, 0] > 0.9
+        assert result.association_probs[1, 1] > 0.9
+
+
+if __name__ == "__main__":
+    pytest.main([__file__, "-v"])

nrl_tracker-1.7.3/tests/test_special_functions_phase12.py → nrl_tracker-1.7.5/tests/test_special_functions.py

@@ -1,5 +1,5 @@
 """
-Tests for Phase 12 Special Mathematical Functions.
+Tests for Special Mathematical Functions.
 
 Tests cover:
 - Marcum Q function