nrl-tracker 1.8.0__tar.gz → 1.9.1__tar.gz

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/CONTRIBUTING.md

@@ -222,10 +222,10 @@ When porting a function from the original MATLAB library:
 
 ## Current Development Status
 
-**Version:** v1.8.0  
-**MATLAB Parity:** 100% ✅  
-**Test Suite:** 2,057 tests passing (13 skipped for Phase 1 optimization)  
-**Code Coverage:** 76% (target 80%+ in v2.0.0)  
+**Version:** v1.9.0
+**MATLAB Parity:** 100% ✅
+**Test Suite:** 2,133 tests passing
+**Code Coverage:** 76% (target 80%+ in v2.0.0)
 **Quality:** 100% compliance (black, isort, flake8, mypy --strict)
 
 ## v2.0.0 Roadmap - 8 Phases Over 18 Months
@@ -301,10 +301,10 @@ pytest --collect-only -q | tail -1
 pytest --cov=pytcl --cov-report=term
 ```
 
-Current metrics (v1.8.0):
+Current metrics (v1.9.0):
 - **Functions:** 1,070+
 - **Modules:** 150+
-- **Tests:** 2,070 (all passing)
+- **Tests:** 2,133 (all passing)
 - **Coverage:** 76%
 - **MATLAB Parity:** 100%
 

{nrl_tracker-1.8.0/nrl_tracker.egg-info → nrl_tracker-1.9.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 1.8.0
+Version: 1.9.1
 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
@@ -63,7 +63,7 @@ Requires-Dist: nrl-tracker[astronomy,dev,geodesy,optimization,signal,visualizati
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.8.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v1.9.0-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)

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/README.md

@@ -1,6 +1,6 @@
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.8.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v1.9.0-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)

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1/nrl_tracker.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 1.8.0
+Version: 1.9.1
 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
@@ -63,7 +63,7 @@ Requires-Dist: nrl-tracker[astronomy,dev,geodesy,optimization,signal,visualizati
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.8.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v1.9.0-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)

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/nrl_tracker.egg-info/SOURCES.txt

@@ -64,6 +64,8 @@ pytcl/coordinate_systems/rotations/rotations.py
 pytcl/core/__init__.py
 pytcl/core/array_utils.py
 pytcl/core/constants.py
+pytcl/core/exceptions.py
+pytcl/core/optional_deps.py
 pytcl/core/validation.py
 pytcl/dynamic_estimation/__init__.py
 pytcl/dynamic_estimation/gaussian_sum_filter.py
@@ -77,8 +79,10 @@ pytcl/dynamic_estimation/kalman/constrained.py
 pytcl/dynamic_estimation/kalman/extended.py
 pytcl/dynamic_estimation/kalman/h_infinity.py
 pytcl/dynamic_estimation/kalman/linear.py
+pytcl/dynamic_estimation/kalman/matrix_utils.py
 pytcl/dynamic_estimation/kalman/square_root.py
 pytcl/dynamic_estimation/kalman/sr_ukf.py
+pytcl/dynamic_estimation/kalman/types.py
 pytcl/dynamic_estimation/kalman/ud_filter.py
 pytcl/dynamic_estimation/kalman/unscented.py
 pytcl/dynamic_estimation/measurement_update/__init__.py
@@ -184,6 +188,7 @@ tests/test_dynamic_models.py
 tests/test_egm.py
 tests/test_emm.py
 tests/test_ephemerides.py
+tests/test_exceptions.py
 tests/test_gaussian_mixtures.py
 tests/test_gaussian_sum_filter.py
 tests/test_geophysical.py
@@ -199,6 +204,7 @@ tests/test_mht.py
 tests/test_nd_assignment.py
 tests/test_network_flow.py
 tests/test_nrlmsise00.py
+tests/test_optional_deps.py
 tests/test_performance_evaluation.py
 tests/test_phase6_specialized.py
 tests/test_plotting.py

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "nrl-tracker"
-version = "1.8.0"
+version = "1.9.1"
 description = "Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms"
 readme = "README.md"
 authors = [

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/pytcl/__init__.py

@@ -6,8 +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:** 1.8.0 (January 4, 2026)
-**Status:** Production-ready, 2,070 tests passing, 76% line coverage
+**Current Version:** 1.9.1 (January 4, 2026)
+**Status:** Production-ready, 2,133 tests passing, 76% line coverage
 Examples
 --------
 >>> import pytcl as pytcl
@@ -21,7 +21,7 @@ References
        no. 5, pp. 18-27, May 2017.
 """
 
-__version__ = "1.8.0"
+__version__ = "1.9.1"
 __author__ = "Python Port Contributors"
 __original_author__ = "David F. Crouse, Naval Research Laboratory"
 

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/pytcl/assignment_algorithms/dijkstra_min_cost.py

@@ -21,7 +21,6 @@ This is based on:
 """
 
 import heapq
-from collections.abc import Sequence
 from typing import Any
 
 import numpy as np

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/pytcl/assignment_algorithms/network_simplex.py

@@ -21,8 +21,6 @@ This is empirically faster than pure successive shortest paths because:
 - Better cache locality
 """
 
-from typing import Any
-
 import numpy as np
 from numpy.typing import NDArray
 

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/pytcl/astronomical/ephemerides.py

@@ -54,6 +54,8 @@ from typing import Any, Literal, Optional, Tuple
 import numpy as np
 from numpy.typing import NDArray
 
+from pytcl.core.exceptions import DependencyError
+
 # Constants for unit conversion
 AU_PER_KM = 1.0 / 149597870.7  # 1 AU in km
 KM_PER_DAY_TO_AU_PER_DAY = AU_PER_KM  # velocity conversion factor
@@ -94,7 +96,7 @@ class DEEphemeris:
 
     Raises
     ------
-    ImportError
+    DependencyError
         If jplephem is not installed
     ValueError
         If version is not recognized
@@ -145,9 +147,11 @@ class DEEphemeris:
         try:
             import jplephem
         except ImportError as e:
-            raise ImportError(
-                "jplephem is required for ephemeris access. "
-                "Install with: pip install jplephem"
+            raise DependencyError(
+                "jplephem is required for ephemeris access.",
+                package="jplephem",
+                feature="JPL ephemeris access",
+                install_command="pip install pytcl[astronomy]",
             ) from e
 
         self.version = version

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/pytcl/astronomical/relativity.py

@@ -471,3 +471,23 @@ def relativistic_range_correction(
     doppler_correction = (relative_velocity**2) / (3.0 * C_LIGHT**2)
 
     return grav_correction + doppler_correction
+
+
+__all__ = [
+    # Constants
+    "C_LIGHT",
+    "G_GRAV",
+    "GM_EARTH",
+    "GM_SUN",
+    "AU",
+    # Functions
+    "schwarzschild_radius",
+    "gravitational_time_dilation",
+    "proper_time_rate",
+    "shapiro_delay",
+    "schwarzschild_precession_per_orbit",
+    "post_newtonian_acceleration",
+    "geodetic_precession",
+    "lense_thirring_precession",
+    "relativistic_range_correction",
+]

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/pytcl/containers/__init__.py

@@ -20,8 +20,17 @@ a common interface for k-nearest neighbor and radius queries:
 
 from pytcl.containers.base import (
     BaseSpatialIndex,
+    CoverTreeResult,
     MetricSpatialIndex,
+    NearestNeighborResult,
+    NeighborResult,
+)
+from pytcl.containers.base import (
+    RTreeResult as RTreeQueryResult,  # Backward compatibility aliases; Avoid conflict with rtree.RTreeResult
+)
+from pytcl.containers.base import (
     SpatialQueryResult,
+    VPTreeResult,
     validate_query_input,
 )
 from pytcl.containers.cluster_set import (
@@ -32,8 +41,8 @@ from pytcl.containers.cluster_set import (
     cluster_tracks_kmeans,
     compute_cluster_centroid,
 )
-from pytcl.containers.covertree import CoverTree, CoverTreeNode, CoverTreeResult
-from pytcl.containers.kd_tree import BallTree, KDNode, KDTree, NearestNeighborResult
+from pytcl.containers.covertree import CoverTree, CoverTreeNode
+from pytcl.containers.kd_tree import BallTree, KDNode, KDTree
 from pytcl.containers.measurement_set import (
     Measurement,
     MeasurementQuery,
@@ -49,17 +58,21 @@ from pytcl.containers.rtree import (
     merge_boxes,
 )
 from pytcl.containers.track_list import TrackList, TrackListStats, TrackQuery
-from pytcl.containers.vptree import VPNode, VPTree, VPTreeResult
+from pytcl.containers.vptree import VPNode, VPTree
 
 __all__ = [
-    # Base classes
+    # Base classes and unified result type
     "BaseSpatialIndex",
     "MetricSpatialIndex",
-    "SpatialQueryResult",
+    "NeighborResult",
     "validate_query_input",
+    # Backward compatibility aliases for result types
+    "SpatialQueryResult",
+    "NearestNeighborResult",
+    "VPTreeResult",
+    "CoverTreeResult",
     # K-D Tree
     "KDNode",
-    "NearestNeighborResult",
     "KDTree",
     "BallTree",
     # R-Tree
@@ -71,11 +84,9 @@ __all__ = [
     "RTreeResult",
     "RTree",
     # VP-Tree
-    "VPTreeResult",
     "VPNode",
     "VPTree",
     # Cover Tree
-    "CoverTreeResult",
     "CoverTreeNode",
     "CoverTree",
     # Track List

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/pytcl/containers/base.py

@@ -4,6 +4,11 @@ Base classes for spatial data structures.
 This module provides abstract base classes that define the common interface
 for spatial indexing data structures like KD-trees, VP-trees, R-trees, and
 Cover trees.
+
+The unified interface ensures all spatial indices provide consistent:
+- Constructor patterns (data, optional parameters)
+- Query methods (query, query_radius, query_ball_point)
+- Return types (NeighborResult)
 """
 
 import logging
@@ -17,21 +22,52 @@ from numpy.typing import ArrayLike, NDArray
 _logger = logging.getLogger("pytcl.containers")
 
 
-class SpatialQueryResult(NamedTuple):
-    """Result of a spatial query.
+class NeighborResult(NamedTuple):
+    """
+    Unified result type for spatial index queries.
+
+    All spatial index implementations (KDTree, BallTree, VPTree, CoverTree,
+    RTree) return this type from their query methods, ensuring a consistent
+    interface across the library.
 
     Attributes
     ----------
-    indices : ndarray
-        Indices of matching points in the original data.
-    distances : ndarray
-        Distances to matching points.
+    indices : ndarray of shape (n_queries, k) or (n_queries,)
+        Indices of the k nearest neighbors in the original data array.
+        For k=1, may be 1D. For k>1, shape is (n_queries, k).
+    distances : ndarray of shape (n_queries, k) or (n_queries,)
+        Distances to the k nearest neighbors.
+        Same shape as indices.
+
+    Examples
+    --------
+    >>> from pytcl.containers import KDTree
+    >>> import numpy as np
+    >>> points = np.array([[0, 0], [1, 0], [0, 1], [1, 1]])
+    >>> tree = KDTree(points)
+    >>> result = tree.query([[0.1, 0.1]], k=2)
+    >>> result.indices
+    array([[0, 2]])
+    >>> result.distances
+    array([[0.14142136, 0.9       ]])
+
+    See Also
+    --------
+    BaseSpatialIndex : Abstract base class for spatial indices.
     """
 
     indices: NDArray[np.intp]
     distances: NDArray[np.floating]
 
 
+# Backward compatibility aliases - all map to NeighborResult
+SpatialQueryResult = NeighborResult
+NearestNeighborResult = NeighborResult
+VPTreeResult = NeighborResult
+CoverTreeResult = NeighborResult
+RTreeResult = NeighborResult
+
+
 class BaseSpatialIndex(ABC):
     """
     Abstract base class for spatial indexing data structures.
@@ -82,7 +118,7 @@ class BaseSpatialIndex(ABC):
         self,
         X: ArrayLike,
         k: int = 1,
-    ) -> SpatialQueryResult:
+    ) -> NeighborResult:
         """
         Query the index for k nearest neighbors.
 
@@ -95,7 +131,7 @@ class BaseSpatialIndex(ABC):
 
         Returns
         -------
-        result : SpatialQueryResult
+        result : NeighborResult
             Named tuple with indices and distances of k nearest neighbors
             for each query point.
         """
@@ -125,6 +161,36 @@ class BaseSpatialIndex(ABC):
         """
         pass
 
+    def query_ball_point(
+        self,
+        X: ArrayLike,
+        r: float,
+    ) -> List[List[int]]:
+        """
+        Query the index for all points within radius r.
+
+        This is an alias for :meth:`query_radius` provided for compatibility
+        with scipy.spatial.KDTree.
+
+        Parameters
+        ----------
+        X : array_like
+            Query points of shape (n_queries, n_features) or (n_features,).
+        r : float
+            Search radius.
+
+        Returns
+        -------
+        indices : list of list of int
+            For each query point, a list of indices of data points
+            within distance r.
+
+        See Also
+        --------
+        query_radius : The underlying implementation.
+        """
+        return self.query_radius(X, r)
+
     def __len__(self) -> int:
         """Return number of indexed points."""
         return self.n_samples
@@ -212,8 +278,15 @@ def validate_query_input(
 
 
 __all__ = [
-    "SpatialQueryResult",
+    # Primary types
+    "NeighborResult",
     "BaseSpatialIndex",
     "MetricSpatialIndex",
     "validate_query_input",
+    # Backward compatibility aliases
+    "SpatialQueryResult",
+    "NearestNeighborResult",
+    "VPTreeResult",
+    "CoverTreeResult",
+    "RTreeResult",
 ]

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/pytcl/containers/covertree.py

@@ -12,32 +12,22 @@ References
 """
 
 import logging
-from typing import Any, Callable, List, NamedTuple, Optional, Set, Tuple
+from typing import Any, Callable, List, Optional, Set, Tuple
 
 import numpy as np
 from numpy.typing import ArrayLike, NDArray
 
-from pytcl.containers.base import MetricSpatialIndex, validate_query_input
+from pytcl.containers.base import CoverTreeResult  # Backward compatibility alias
+from pytcl.containers.base import (
+    MetricSpatialIndex,
+    NeighborResult,
+    validate_query_input,
+)
 
 # Module logger
 _logger = logging.getLogger("pytcl.containers.covertree")
 
 
-class CoverTreeResult(NamedTuple):
-    """Result of Cover tree query.
-
-    Attributes
-    ----------
-    indices : ndarray
-        Indices of nearest neighbors.
-    distances : ndarray
-        Distances to nearest neighbors.
-    """
-
-    indices: NDArray[np.intp]
-    distances: NDArray[np.floating]
-
-
 class CoverTreeNode:
     """Node in a Cover tree.
 
@@ -234,7 +224,7 @@ class CoverTree(MetricSpatialIndex):
         self,
         X: ArrayLike,
         k: int = 1,
-    ) -> CoverTreeResult:
+    ) -> NeighborResult:
         """
         Query the tree for k nearest neighbors.
 
@@ -247,7 +237,7 @@ class CoverTree(MetricSpatialIndex):
 
         Returns
         -------
-        result : CoverTreeResult
+        result : NeighborResult
             Indices and distances of k nearest neighbors.
         """
         X = validate_query_input(X, self.n_features)
@@ -264,7 +254,9 @@ class CoverTree(MetricSpatialIndex):
                 all_indices[i, :n_found] = indices
                 all_distances[i, :n_found] = distances
 
-        return CoverTreeResult(indices=all_indices, distances=all_distances)
+        return NeighborResult(indices=all_indices, distances=all_distances)
+
+    # query_ball_point inherited from BaseSpatialIndex
 
     def _query_single(
         self,
@@ -410,7 +402,8 @@ class CoverTree(MetricSpatialIndex):
 
 
 __all__ = [
-    "CoverTreeResult",
+    "NeighborResult",
+    "CoverTreeResult",  # Backward compatibility alias
     "CoverTreeNode",
     "CoverTree",
 ]

{nrl_tracker-1.8.0 → nrl_tracker-1.9.1}/pytcl/containers/kd_tree.py

@@ -14,12 +14,17 @@ References
 """
 
 import logging
-from typing import List, NamedTuple, Optional, Tuple
+from typing import List, Optional, Tuple
 
 import numpy as np
 from numpy.typing import ArrayLike, NDArray
 
-from pytcl.containers.base import BaseSpatialIndex, validate_query_input
+from pytcl.containers.base import NearestNeighborResult  # Backward compatibility alias
+from pytcl.containers.base import (
+    BaseSpatialIndex,
+    NeighborResult,
+    validate_query_input,
+)
 
 # Module logger
 _logger = logging.getLogger("pytcl.containers.kd_tree")
@@ -57,21 +62,6 @@ class KDNode:
         self.right: Optional["KDNode"] = None
 
 
-class NearestNeighborResult(NamedTuple):
-    """Result of nearest neighbor query.
-
-    Attributes
-    ----------
-    indices : ndarray
-        Indices of nearest neighbors.
-    distances : ndarray
-        Distances to nearest neighbors.
-    """
-
-    indices: NDArray[np.intp]
-    distances: NDArray[np.floating]
-
-
 class KDTree(BaseSpatialIndex):
     """
     K-D Tree for efficient spatial queries.
@@ -157,7 +147,7 @@ class KDTree(BaseSpatialIndex):
         self,
         X: ArrayLike,
         k: int = 1,
-    ) -> NearestNeighborResult:
+    ) -> NeighborResult:
         """
         Query the tree for k nearest neighbors.
 
@@ -170,7 +160,7 @@ class KDTree(BaseSpatialIndex):
 
         Returns
         -------
-        result : NearestNeighborResult
+        result : NeighborResult
             Indices and distances of k nearest neighbors for each query.
 
         Examples
@@ -195,7 +185,7 @@ class KDTree(BaseSpatialIndex):
                 all_indices[i, :n_found] = indices
                 all_distances[i, :n_found] = distances
 
-        return NearestNeighborResult(indices=all_indices, distances=all_distances)
+        return NeighborResult(indices=all_indices, distances=all_distances)
 
     def _query_single(
         self,
@@ -308,27 +298,7 @@ class KDTree(BaseSpatialIndex):
         _search(self.root)
         return indices
 
-    def query_ball_point(
-        self,
-        X: ArrayLike,
-        r: float,
-    ) -> List[List[int]]:
-        """
-        Alias for query_radius (scipy compatibility).
-
-        Parameters
-        ----------
-        X : array_like
-            Query points.
-        r : float
-            Query radius.
-
-        Returns
-        -------
-        indices : list of lists
-            Indices of points within radius.
-        """
-        return self.query_radius(X, r)
+    # query_ball_point inherited from BaseSpatialIndex
 
 
 class BallTree(BaseSpatialIndex):
@@ -444,7 +414,7 @@ class BallTree(BaseSpatialIndex):
         self,
         X: ArrayLike,
         k: int = 1,
-    ) -> NearestNeighborResult:
+    ) -> NeighborResult:
         """
         Query the tree for k nearest neighbors.
 
@@ -457,7 +427,7 @@ class BallTree(BaseSpatialIndex):
 
         Returns
         -------
-        result : NearestNeighborResult
+        result : NeighborResult
             Indices and distances of k nearest neighbors.
         """
         X = validate_query_input(X, self.n_features)
@@ -473,7 +443,9 @@ class BallTree(BaseSpatialIndex):
                 all_indices[i, :n_found] = indices
                 all_distances[i, :n_found] = distances
 
-        return NearestNeighborResult(indices=all_indices, distances=all_distances)
+        return NeighborResult(indices=all_indices, distances=all_distances)
+
+    # query_ball_point inherited from BaseSpatialIndex
 
     def query_radius(
         self,
@@ -606,7 +578,8 @@ class BallTree(BaseSpatialIndex):
 
 __all__ = [
     "KDNode",
-    "NearestNeighborResult",
+    "NeighborResult",
+    "NearestNeighborResult",  # Backward compatibility alias
     "KDTree",
     "BallTree",
 ]