nrl-tracker 1.9.1__py3-none-any.whl → 1.10.0__py3-none-any.whl

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Files changed (68) hide show
  1. {nrl_tracker-1.9.1.dist-info → nrl_tracker-1.10.0.dist-info}/METADATA +49 -4
  2. {nrl_tracker-1.9.1.dist-info → nrl_tracker-1.10.0.dist-info}/RECORD +68 -60
  3. pytcl/__init__.py +2 -2
  4. pytcl/assignment_algorithms/gating.py +18 -0
  5. pytcl/assignment_algorithms/jpda.py +56 -0
  6. pytcl/assignment_algorithms/nd_assignment.py +65 -0
  7. pytcl/assignment_algorithms/network_flow.py +40 -0
  8. pytcl/astronomical/ephemerides.py +18 -0
  9. pytcl/astronomical/orbital_mechanics.py +131 -0
  10. pytcl/atmosphere/ionosphere.py +44 -0
  11. pytcl/atmosphere/models.py +29 -0
  12. pytcl/clustering/dbscan.py +9 -0
  13. pytcl/clustering/gaussian_mixture.py +20 -0
  14. pytcl/clustering/hierarchical.py +29 -0
  15. pytcl/clustering/kmeans.py +9 -0
  16. pytcl/coordinate_systems/conversions/geodetic.py +46 -0
  17. pytcl/coordinate_systems/conversions/spherical.py +35 -0
  18. pytcl/coordinate_systems/rotations/rotations.py +147 -0
  19. pytcl/core/__init__.py +16 -0
  20. pytcl/core/maturity.py +346 -0
  21. pytcl/core/optional_deps.py +20 -0
  22. pytcl/dynamic_estimation/gaussian_sum_filter.py +55 -0
  23. pytcl/dynamic_estimation/imm.py +29 -0
  24. pytcl/dynamic_estimation/information_filter.py +64 -0
  25. pytcl/dynamic_estimation/kalman/extended.py +56 -0
  26. pytcl/dynamic_estimation/kalman/linear.py +69 -0
  27. pytcl/dynamic_estimation/kalman/unscented.py +81 -0
  28. pytcl/dynamic_estimation/particle_filters/bootstrap.py +146 -0
  29. pytcl/dynamic_estimation/rbpf.py +51 -0
  30. pytcl/dynamic_estimation/smoothers.py +58 -0
  31. pytcl/dynamic_models/continuous_time/dynamics.py +104 -0
  32. pytcl/dynamic_models/discrete_time/coordinated_turn.py +6 -0
  33. pytcl/dynamic_models/discrete_time/singer.py +12 -0
  34. pytcl/dynamic_models/process_noise/coordinated_turn.py +46 -0
  35. pytcl/dynamic_models/process_noise/polynomial.py +6 -0
  36. pytcl/dynamic_models/process_noise/singer.py +52 -0
  37. pytcl/gpu/__init__.py +153 -0
  38. pytcl/gpu/ekf.py +425 -0
  39. pytcl/gpu/kalman.py +543 -0
  40. pytcl/gpu/matrix_utils.py +486 -0
  41. pytcl/gpu/particle_filter.py +568 -0
  42. pytcl/gpu/ukf.py +476 -0
  43. pytcl/gpu/utils.py +582 -0
  44. pytcl/gravity/clenshaw.py +60 -0
  45. pytcl/gravity/egm.py +47 -0
  46. pytcl/gravity/models.py +34 -0
  47. pytcl/gravity/spherical_harmonics.py +73 -0
  48. pytcl/gravity/tides.py +34 -0
  49. pytcl/mathematical_functions/numerical_integration/quadrature.py +85 -0
  50. pytcl/mathematical_functions/special_functions/bessel.py +55 -0
  51. pytcl/mathematical_functions/special_functions/elliptic.py +42 -0
  52. pytcl/mathematical_functions/special_functions/error_functions.py +49 -0
  53. pytcl/mathematical_functions/special_functions/gamma_functions.py +43 -0
  54. pytcl/mathematical_functions/special_functions/lambert_w.py +5 -0
  55. pytcl/mathematical_functions/special_functions/marcum_q.py +16 -0
  56. pytcl/navigation/geodesy.py +101 -2
  57. pytcl/navigation/great_circle.py +71 -0
  58. pytcl/navigation/rhumb.py +74 -0
  59. pytcl/performance_evaluation/estimation_metrics.py +70 -0
  60. pytcl/performance_evaluation/track_metrics.py +30 -0
  61. pytcl/static_estimation/maximum_likelihood.py +54 -0
  62. pytcl/static_estimation/robust.py +57 -0
  63. pytcl/terrain/dem.py +69 -0
  64. pytcl/terrain/visibility.py +65 -0
  65. pytcl/trackers/hypothesis.py +65 -0
  66. {nrl_tracker-1.9.1.dist-info → nrl_tracker-1.10.0.dist-info}/LICENSE +0 -0
  67. {nrl_tracker-1.9.1.dist-info → nrl_tracker-1.10.0.dist-info}/WHEEL +0 -0
  68. {nrl_tracker-1.9.1.dist-info → nrl_tracker-1.10.0.dist-info}/top_level.txt +0 -0
{nrl_tracker-1.9.1.dist-info → nrl_tracker-1.10.0.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
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  Name: nrl-tracker
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- Version: 1.9.1
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+ Version: 1.10.0
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  Summary: Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms
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  Author: Original: David F. Crouse, Naval Research Laboratory
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  Maintainer: Python Port Contributors
@@ -41,6 +41,8 @@ Requires-Dist: pytest>=7.0.0; extra == "dev"
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  Requires-Dist: pytest-cov>=4.0.0; extra == "dev"
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  Requires-Dist: pytest-xdist>=3.0.0; extra == "dev"
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  Requires-Dist: pytest-benchmark>=4.0.0; extra == "dev"
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+ Requires-Dist: pytest-timeout>=2.0.0; extra == "dev"
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+ Requires-Dist: nbval>=0.10.0; extra == "dev"
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  Requires-Dist: hypothesis>=6.0.0; extra == "dev"
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  Requires-Dist: black>=23.0.0; extra == "dev"
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  Requires-Dist: isort>=5.12.0; extra == "dev"
@@ -51,9 +53,15 @@ Requires-Dist: sphinx>=6.0.0; extra == "dev"
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  Requires-Dist: sphinx-rtd-theme>=1.2.0; extra == "dev"
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  Requires-Dist: myst-parser>=1.0.0; extra == "dev"
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  Requires-Dist: nbsphinx>=0.9.0; extra == "dev"
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+ Requires-Dist: jupyter>=1.0.0; extra == "dev"
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+ Requires-Dist: ipykernel>=6.0.0; extra == "dev"
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  Provides-Extra: geodesy
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  Requires-Dist: pyproj>=3.4.0; extra == "geodesy"
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  Requires-Dist: geographiclib>=2.0; extra == "geodesy"
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+ Provides-Extra: gpu
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+ Requires-Dist: cupy-cuda12x>=12.0.0; extra == "gpu"
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+ Provides-Extra: gpu-apple
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+ Requires-Dist: mlx>=0.5.0; extra == "gpu-apple"
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  Provides-Extra: optimization
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  Requires-Dist: cvxpy>=1.3.0; extra == "optimization"
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  Provides-Extra: signal
@@ -63,17 +71,17 @@ Requires-Dist: plotly>=5.15.0; extra == "visualization"
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  # Tracker Component Library (Python)
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- [![PyPI version](https://img.shields.io/badge/pypi-v1.9.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
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+ [![PyPI version](https://img.shields.io/badge/pypi-v1.10.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
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  [![Python 3.10+](https://img.shields.io/badge/python-3.10+-blue.svg)](https://www.python.org/downloads/)
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  [![License: Public Domain](https://img.shields.io/badge/License-Public%20Domain-brightgreen.svg)](https://en.wikipedia.org/wiki/Public_domain)
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  [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
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- [![Tests](https://img.shields.io/badge/tests-1988%20passing-success.svg)](https://github.com/nedonatelli/TCL)
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+ [![Tests](https://img.shields.io/badge/tests-2133%20passing-success.svg)](https://github.com/nedonatelli/TCL)
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  [![MATLAB Parity](https://img.shields.io/badge/MATLAB%20Parity-100%25-brightgreen.svg)](docs/gap_analysis.rst)
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  [![Type Checking](https://img.shields.io/badge/mypy--strict-passing-brightgreen.svg)](mypy.ini)
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  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.
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- **1,070+ functions** | **153 modules** | **1,988 tests** | **100% MATLAB parity**
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+ **1,070+ functions** | **153 modules** | **2,133 tests** | **100% MATLAB parity**
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  ## Overview
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@@ -90,6 +98,7 @@ The Tracker Component Library provides building blocks for developing target tra
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  - **Navigation**: Geodetic calculations, INS mechanization, GNSS utilities, INS/GNSS integration
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  - **Geophysical Models**: Gravity (WGS84, EGM96/2008), magnetism (WMM, IGRF), atmosphere, tides, terrain
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  - **Signal Processing**: Digital filters, matched filtering, CFAR detection, transforms (FFT, STFT, wavelets)
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+ - **GPU Acceleration**: CuPy (NVIDIA CUDA) and MLX (Apple Silicon) backends for batch Kalman filtering and particle filters
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  ## Installation
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@@ -111,6 +120,12 @@ pip install nrl-tracker[geodesy]
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  # For visualization
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  pip install nrl-tracker[visualization]
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+ # For GPU acceleration (NVIDIA CUDA)
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+ pip install nrl-tracker[gpu]
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+
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+ # For GPU acceleration (Apple Silicon M1/M2/M3)
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+ pip install nrl-tracker[gpu-apple]
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+
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  # For development
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  pip install nrl-tracker[dev]
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@@ -183,6 +198,35 @@ assignment, total_cost = hungarian(cost_matrix)
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  print(f"Optimal assignment: {assignment}, Total cost: {total_cost}")
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  ```
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+ ### GPU Acceleration
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+ The library supports GPU acceleration for batch processing of multiple tracks:
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+ ```python
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+ from pytcl.gpu import is_gpu_available, get_backend, to_gpu, to_cpu
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+
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+ # Check GPU availability (auto-detects CUDA or Apple Silicon)
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+ if is_gpu_available():
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+ print(f"GPU available, using {get_backend()} backend")
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+
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+ # Transfer data to GPU
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+ x_gpu = to_gpu(states) # (n_tracks, state_dim)
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+ P_gpu = to_gpu(covariances) # (n_tracks, state_dim, state_dim)
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+
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+ # Use batch Kalman filter operations
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+ from pytcl.gpu import batch_kf_predict
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+ x_pred, P_pred = batch_kf_predict(x_gpu, P_gpu, F, Q)
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+
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+ # Transfer results back to CPU
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+ x_pred_cpu = to_cpu(x_pred)
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+ ```
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+
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+ **Supported backends:**
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+ - **NVIDIA CUDA**: Via CuPy (`pip install nrl-tracker[gpu]`)
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+ - **Apple Silicon**: Via MLX (`pip install nrl-tracker[gpu-apple]`)
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+
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+ The backend is automatically selected based on your platform.
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+
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  ## Module Structure
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  ```
@@ -202,6 +246,7 @@ pytcl/
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  ├── gravity/ # Gravity models
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  ├── magnetism/ # Magnetic field models
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  ├── terrain/ # Terrain elevation models
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+ ├── gpu/ # GPU acceleration (CuPy/MLX)
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  └── misc/ # Utilities, visualization
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  ```
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{nrl_tracker-1.9.1.dist-info → nrl_tracker-1.10.0.dist-info}/RECORD RENAMED
@@ -1,12 +1,12 @@
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- pytcl/__init__.py,sha256=9dJwbOB9i-NLj_XEO6d0V6mq9jAl7dlgoNPL9NMR78s,2030
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+ pytcl/__init__.py,sha256=DEk9yoH37UzqAZycMHTVEm6GgrN3uhXfObXQs3o28kI,2032
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  pytcl/logging_config.py,sha256=UJaYufQgNuIjpsOMTPo3ewz1XCHPk8a08jTHyP7uoI4,8956
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  pytcl/assignment_algorithms/__init__.py,sha256=kUWhmyLhZcs5GiUQA5_v7KA3qETGsvqV6wU8r7paO-k,2976
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  pytcl/assignment_algorithms/data_association.py,sha256=tsRxWJZk9aAPmE99BKXGouEpFfZrjPjb4HXvgxFUHhU,11405
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  pytcl/assignment_algorithms/dijkstra_min_cost.py,sha256=z-Wk1HXRNKieBsRFqR8_UB8QvG5QkK3evazr8wzTpl0,5429
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- pytcl/assignment_algorithms/gating.py,sha256=AXWn-F_EOGI6qrBc4PN5eFM-ZZGu1WOMi5b5ZsxValU,10910
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- pytcl/assignment_algorithms/jpda.py,sha256=8-HoO2VygxJ8FFSCCOIOfbhMAn87jU7PqVvd7lQ3GEY,19797
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- pytcl/assignment_algorithms/nd_assignment.py,sha256=RBRoXoJnUY0lB9Vb_dwvQtwh6oI31KfeDqpaNrTNXzk,11344
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- pytcl/assignment_algorithms/network_flow.py,sha256=yxEtoNe0-paXgNmeH2e3qcdRr_8ZvAg2L62QtqZZKMI,13221
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+ pytcl/assignment_algorithms/gating.py,sha256=JaRaFcFqjfdsTbbTP6k_GY2zemDSR02l5yInWHpb05Y,11439
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+ pytcl/assignment_algorithms/jpda.py,sha256=rOY_v1vesL6EJySwD0kRDTfe7wHoDFLITg_lJLM-bX4,21731
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+ pytcl/assignment_algorithms/nd_assignment.py,sha256=qYTFZryqfnHXz1I1Kg2vTvEJIYla4JknedhKPXphdiQ,13269
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+ pytcl/assignment_algorithms/network_flow.py,sha256=pPD63Z0-HOBv5XIqKUedt1KzTkcs0KG41DNojFZocDI,14459
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  pytcl/assignment_algorithms/network_simplex.py,sha256=Qi10PsIYcTc6MZ-9GPl6ivaLaGA9F5-B7ltBbmasRNM,5566
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  pytcl/assignment_algorithms/three_dimensional/__init__.py,sha256=1Q40OUlUQoo7YKEucwdrSNo3D4A0Zibvkr8z4TpueBg,526
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  pytcl/assignment_algorithms/three_dimensional/assignment.py,sha256=OGcjg3Yr1tYriWYBJ5k6jiRMpOHDISK8FJDY0nTQxxw,19244
@@ -14,9 +14,9 @@ pytcl/assignment_algorithms/two_dimensional/__init__.py,sha256=4Evsn__9hTfI2i8m8
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  pytcl/assignment_algorithms/two_dimensional/assignment.py,sha256=eh87MBb-uiUSI1MXj4HrreRKB6Z8rxAyDkNQ8-u4SbM,11848
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  pytcl/assignment_algorithms/two_dimensional/kbest.py,sha256=yiTToLuP7xWxQlQ8E-fpgXg-5iu0nnXcJXStjUB0nOE,17284
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  pytcl/astronomical/__init__.py,sha256=v0nUgEy5ReHXzpNb1JdwWXv4AtcFksotEOccQnOyVfI,9667
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- pytcl/astronomical/ephemerides.py,sha256=dJNq2Z_qmgM4rpFbH2zZl5kXWtvPjwPLGkP_eDUF7KA,16859
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+ pytcl/astronomical/ephemerides.py,sha256=cZ_qedKAG7BfIinjfGyH48pRwiVfn7bQ_4qyICa9-GA,17401
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  pytcl/astronomical/lambert.py,sha256=Lc8FT1JmpI9WSXsG2s5vIRkSoBSV7r5hd3o2bGh2Ojo,15607
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- pytcl/astronomical/orbital_mechanics.py,sha256=8GssRanwTowCl6PJYqmB_SDnNznLUq5gkPa3j6iEo3U,19965
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+ pytcl/astronomical/orbital_mechanics.py,sha256=alC8r9SToqVpBeo6EJ6alHdoJ6hJ6wshZF_xA1qPYJQ,23003
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  pytcl/astronomical/reference_frames.py,sha256=MBqprzBpEvdq3ngRL-_pp-Vnj7AqbuXhjUfGQ98znfc,35616
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  pytcl/astronomical/relativity.py,sha256=vSay4am_ElkiGRwuu_4rwo5C10eN8hm86jy43xmaEt4,15933
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  pytcl/astronomical/sgp4.py,sha256=iNZrqMRUzR-LFeZiluzlNmkwxeYbIyF2F1cygyeEZVE,21546
@@ -24,14 +24,14 @@ pytcl/astronomical/special_orbits.py,sha256=N54c_wAD7XKk_diDOw2QjUSkmYECMyWQDq2P
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  pytcl/astronomical/time_systems.py,sha256=Jg0Zaq60hc4Ts1aQtb5bK4KSZhz-uQse8gYC89Y0-TA,15243
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  pytcl/astronomical/tle.py,sha256=t3e2-0f3Wiz77q-pC2jfpohkrDfoYOEHacpNgWMNLAk,14638
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  pytcl/atmosphere/__init__.py,sha256=Joa6PBEfKun0Moii6BOzyVYG8AOFyvucKdVuY62ArQc,1685
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- pytcl/atmosphere/ionosphere.py,sha256=1qC3hY-27pD0XcLBjU735deKYmmi6qnj2fDG1zNbTqg,14681
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- pytcl/atmosphere/models.py,sha256=pMLv8D7qoFqLZrlbTHLJJULOdDdhPskJ1m7KVKLV63E,9584
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+ pytcl/atmosphere/ionosphere.py,sha256=tt_Qu1IvqZxah2P_QaWxpwroSgtDNU-6RrqtxMRZScY,16092
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+ pytcl/atmosphere/models.py,sha256=ZAwa6rsSe9RaQyVjiJ2i2K_D9ZyJ0MymhSsltnsiAK8,10358
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  pytcl/clustering/__init__.py,sha256=bYdhC_XJEt6KUUni9bIPxaddXNEGmIJQvGkA14rK4J8,1697
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- pytcl/clustering/dbscan.py,sha256=WgzYz_f5nDh0T1RPClX9b3xSvFPmLxY6QaI2NCtxJg4,7389
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- pytcl/clustering/gaussian_mixture.py,sha256=UAI2_WG2RASA0N2PIZ0EZgqYZ3yly7oJBSJWSJnm_bE,22904
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- pytcl/clustering/hierarchical.py,sha256=K7z6bZR4QSDMva9kaqEOjdktl8unMK1wyCJm3cFN8pQ,14292
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- pytcl/clustering/kmeans.py,sha256=GNvgaGP53LKr4-fh-UajxbjCi0jWCCLJba23EGcQq4I,10712
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+ pytcl/clustering/dbscan.py,sha256=paEua1ocHfnEM1rh972osfKPerziSw04vRkRmNApb1U,7681
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+ pytcl/clustering/gaussian_mixture.py,sha256=U-mIRLkpyZbWt9Egx3CZrpDCmci9588YMVff0JM8ge0,23778
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+ pytcl/clustering/hierarchical.py,sha256=MDBIcJtZHYruSsM_seAR9bNWKB63EDh1nIf6qAn43lE,15195
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+ pytcl/clustering/kmeans.py,sha256=_r08KVvqHL1UnYE4rHBAJ1OKA97q-PWl2OOsTi6kKqk,10963
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  pytcl/containers/cluster_set.py,sha256=uhfOIpXlYoI1U75TWcLMHjezVavnIZhVEGQHKCDmKo4,22774
@@ -43,58 +43,66 @@ pytcl/containers/track_list.py,sha256=6q9Qgcwm-8H_JqtOCsMssF27av4XaSkhfDl-MWb1AB
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  pytcl/containers/vptree.py,sha256=-7znAilGCNpN7SN8TxVhNFIOyP-s9oJa9Vp4FJWehcg,8720
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  pytcl/coordinate_systems/__init__.py,sha256=jwYhu_-9AvOeP9WLG9PYtyDwfe0GjxNZ9-xCqiLymW4,3909
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  pytcl/coordinate_systems/conversions/__init__.py,sha256=PkNevB78vBw0BkalydJBbQO91AyiMJxKRrgJNt4HsYc,1100
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- pytcl/coordinate_systems/conversions/geodetic.py,sha256=rRRf4MWBkGj3VTN1WRW3lrlw4Yf9a4HH3UCgNOGjbJ0,23460
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- pytcl/coordinate_systems/conversions/spherical.py,sha256=q7k9l5mJbVzVdNj9Gcq4ibFxax8z_mVpJfITRBzx630,10812
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+ pytcl/coordinate_systems/conversions/geodetic.py,sha256=CarrTBW9rTC-CZ4E4YGxA8QjlpauuXJ2ZScnzc4QvK8,25001
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+ pytcl/coordinate_systems/conversions/spherical.py,sha256=GwuS1k0aUQ3AG1zZJouioMjxSIuEPRZMk-arvUCTh2k,11563
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  pytcl/coordinate_systems/jacobians/jacobians.py,sha256=0gpbelZPN4HDtvS1ymc3RIhOfxCVTKpRc-jDJXdM6pQ,11747
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  pytcl/coordinate_systems/projections/__init__.py,sha256=TmBiffO5cmazAhsfPIVBaaqnravVSO3JxjGb0MXkucc,2404
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- pytcl/coordinate_systems/rotations/rotations.py,sha256=2KK6Lgpfmjac3qfOMvHku_BcwGOgkRC13BZbSCUvfwQ,18314
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- pytcl/core/__init__.py,sha256=RNsMJw_rydDqNaoxHunANCooxtdc_lclVVfsy7EIK1U,2854
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+ pytcl/coordinate_systems/rotations/rotations.py,sha256=-VheczqsqF-qHF46HVKYTe0oS76MTmqyXQV3EO2JAJs,22258
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+ pytcl/core/__init__.py,sha256=Rm02KyEP5jCgcaS6N6F-Bs2nLgW-EO1cjCD0NqAg664,3236
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- pytcl/core/optional_deps.py,sha256=Xe7BG18SWsmzBD3zGa440U_QWKkfATBKhUfLOxhXZuU,15799
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+ pytcl/core/maturity.py,sha256=Sut19NfH1-6f3Qd2QSC6OAqvDcVHJDwf5-F_-oEAMJA,11596
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+ pytcl/core/optional_deps.py,sha256=a3UK_DM2s0XQE4Lwp0agq9L0qjupl_d8o4csCYbi440,16396
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- pytcl/dynamic_estimation/gaussian_sum_filter.py,sha256=rxUy_WapTL_pkGimD01DqYE7fElLS_DljnX2yg95Uts,13620
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- pytcl/dynamic_estimation/imm.py,sha256=RLSFPTMDsudxSf9Mh6Q5qD852tq9lRoCTvFCGphezhs,22152
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- pytcl/dynamic_estimation/information_filter.py,sha256=x7iQwO_iJT1dCSvDws5LqD3yAtjw9QVGUfMPcXn1IA4,17349
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- pytcl/dynamic_estimation/rbpf.py,sha256=CaKSD2TC1sxICnHuN1W2v2S7P-Kxi4lxdy4KRq2We3w,17898
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- pytcl/dynamic_estimation/smoothers.py,sha256=x2j-nR--EI5JNZvMywPeDHcrfW8b5PYK0DCU4Rmig_g,18914
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+ pytcl/dynamic_estimation/gaussian_sum_filter.py,sha256=3Ks5-sGo3IF9p_dsIzk5u2zaXS2ZAkJFAg1mdxo8vj8,15343
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+ pytcl/dynamic_estimation/imm.py,sha256=Iq8hpnak9NQxcrtIoYgFYReul3sjo8o3QOvr9vXXUEU,23258
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+ pytcl/dynamic_estimation/information_filter.py,sha256=DIziISqxbhfmLaeK5T6zROhncTZQKm4d3077nfs5u6o,19254
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+ pytcl/dynamic_estimation/rbpf.py,sha256=gaJz0fDCFf-VAIQHlqrpFGv5LsBQMlr0DfptSv4JpQw,19819
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+ pytcl/dynamic_estimation/smoothers.py,sha256=QVThB1E8Tj8UFHMRJ4tNMq509SvvBHECQRlMSM5fjRg,21259
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- pytcl/dynamic_estimation/kalman/extended.py,sha256=fxi2-oq8qxnxZqPmjB8-Am03z6_F_R90wwFcOIEk_dg,10459
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+ pytcl/dynamic_estimation/kalman/extended.py,sha256=Yxc4Ve2aBtrkoelfMTFmzcXZefVZM0p0Z_a9n2IM1gQ,12032
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- pytcl/dynamic_estimation/kalman/linear.py,sha256=1Zgg9gZya0Vxs9im7sPUqLj0Luo463vS-RSa6GCReFI,12248
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+ pytcl/dynamic_estimation/kalman/linear.py,sha256=gLFoCHjWtNHus_Nh4fTu67n_Xiv9QFVAuO5vO8MJICo,14673
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- pytcl/dynamic_estimation/kalman/unscented.py,sha256=G3Ks6fa_Z-MxUdOEiiHqQ1wYJzOgfuipiP32at6Mv8o,15505
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+ pytcl/dynamic_estimation/kalman/unscented.py,sha256=I88b2XVAoiKlOnmNrI4vc3hAbHMc_sILmqXu2t4JktQ,17777
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- pytcl/dynamic_estimation/particle_filters/bootstrap.py,sha256=6KSLZROxfrldExpDL1GaGhd75IXO5KA8iC-kmhuUBkg,13531
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+ pytcl/dynamic_estimation/particle_filters/bootstrap.py,sha256=MZlBTO7lYQprireUS52O1dxtL4srrPylFT3BoIU8Jrw,18187
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- pytcl/dynamic_models/continuous_time/dynamics.py,sha256=CDwqn-66eUwXA5xfIjaG6A4EDBqtOyQ3aWarJr9QH4g,12858
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+ pytcl/dynamic_models/continuous_time/dynamics.py,sha256=X4mmskbj_ngDTWC3eiBuSauqMDFUBXGsNNlB6Q5AuKQ,15718
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- pytcl/dynamic_models/discrete_time/coordinated_turn.py,sha256=jrSGCKiAdXaFIJBLzRyAv0xxxpOHOBnAtDHyu7VYsm8,7206
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+ pytcl/dynamic_models/discrete_time/coordinated_turn.py,sha256=h83OUxUeYHdoS2tXcOYtaUe_9tAIe3z1fCJ7-z6yPCw,7322
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- pytcl/dynamic_models/discrete_time/singer.py,sha256=wZS3Nad-YyPZp8Mle8Sf5GgW0-t4TxMRcnbc42HtQnA,3861
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+ pytcl/dynamic_models/discrete_time/singer.py,sha256=o0nR1MJjVi6Qjd5oLsy4vFUgfMKjG3UbE_FIi2qxl8s,4051
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- pytcl/dynamic_models/process_noise/coordinated_turn.py,sha256=w7bHUImLPL5m3KYenfNgAnHPCRtAyYESbsFc6lQKXRg,4768
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- pytcl/dynamic_models/process_noise/polynomial.py,sha256=natfpsdN3qM9VzPeXF_nBpsbRI74S1WkkRCaaem6EQo,7620
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- pytcl/dynamic_models/process_noise/singer.py,sha256=lsJDT6xOvcS_qQKFtgHX0L7Ukpy4D7HgvPT8Q3I0ibU,3901
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+ pytcl/dynamic_models/process_noise/coordinated_turn.py,sha256=0PciDXtXHjgQdaYf7qpQqIZ7qoMV4uO_kE7wjpiBe64,6483
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+ pytcl/dynamic_models/process_noise/polynomial.py,sha256=w5ZW5Ouw6QpVtev_mnuCmZoj6_O6ovb2L_ENKDhHYIc,7742
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+ pytcl/dynamic_models/process_noise/singer.py,sha256=ozAdzH4s0wGlBaxajdyZvSnK8_CumgsUZDKeMW-TxDs,5735
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+ pytcl/gpu/__init__.py,sha256=B3t8UrMg7_1k79eeJMJqPLlb4dG8xHfttsaIDqCDk2g,4268
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+ pytcl/gpu/ekf.py,sha256=Lern6c0lP9LdfL4vHM1PWvXLHl1tniNZPXq7Mw81R5A,12138
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+ pytcl/gpu/kalman.py,sha256=8swMqLsnXjdl9-0vOg6wEqxtVHQRHcV4bXjHL8RwUmk,16417
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+ pytcl/gpu/matrix_utils.py,sha256=FKlcZKEbWSPHUgRjsFpcvN2LgcXZncMIWmOo8GAXp2Q,12394
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+ pytcl/gpu/particle_filter.py,sha256=uBK9ItCgGRfZ7WtWQIky-t3pl1oM1Fi1hZ6fmHTr4kc,16957
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+ pytcl/gpu/ukf.py,sha256=NzSWOKBBpyNFKiTwj9fpDIWmO9-1-vpmFXLdkXrxM1E,13070
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+ pytcl/gpu/utils.py,sha256=HAwC2cYh2UFr5hJBeabvdK3AxhJJNN9I2MFJel2FIjU,14790
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- pytcl/gravity/clenshaw.py,sha256=1BdxzU8IfGGd68H_U35soIJkiOHphY35e9mLElhPTOg,15364
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- pytcl/gravity/egm.py,sha256=47I8nyXNhXUKPkufXahs4JGsBcqhM-9z2xGz0X4JPmU,18422
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- pytcl/gravity/models.py,sha256=rdY3Do4M1eRFO74gu3xy-bBn7tox3zM49wYbfnsIQWw,11159
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- pytcl/gravity/spherical_harmonics.py,sha256=FV_cFp0lx6uGw-dxNFRpehaAn28QImX9z7PFdyRbEJI,16549
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- pytcl/gravity/tides.py,sha256=nu9_L12aBd2EpmTMh3UulmYCUxQ9wC4kOpdSIn7f0Z8,27785
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+ pytcl/gravity/clenshaw.py,sha256=O7yYfjHMigR1RQHR_gZe3UuMIe_WsGrXFSLzn7PLfIE,16985
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+ pytcl/gravity/egm.py,sha256=LAeNbaQ7eZakk0ciwLec0_8q41MrBFouVLpDsETis6o,19683
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+ pytcl/gravity/models.py,sha256=WqBwaOhQdGMx7MsYGYYNbwQLj8rgV-I_VhKZLFvmfso,11990
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+ pytcl/gravity/spherical_harmonics.py,sha256=bRUFVLgPQEJ8M5a_cJrJ-d5s5xTCmOs4fwRvdYaACuw,18522
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+ pytcl/gravity/tides.py,sha256=NjsiXSiI7f-0qGr7G7YJVpIOVGzDxagz2S2vf_aRq68,28681
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@@ -111,21 +119,21 @@ pytcl/mathematical_functions/geometry/geometry.py,sha256=iLKqTlLEGm8IScEDHEWOBQz
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  pytcl/mathematical_functions/numerical_integration/__init__.py,sha256=iXiHzyV_KIhCv7tXErXlN1_fUEACN6yN3CYDHRA7esw,974
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- pytcl/mathematical_functions/numerical_integration/quadrature.py,sha256=3MwNCjdMfopgtJjXWxn-q9VyawI1IArkNBXqa_kRMj4,15716
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+ pytcl/mathematical_functions/numerical_integration/quadrature.py,sha256=F5y8UQltTiAyIj_lGuuRYnSf465Rm_DNHMeq-E8bj-8,17732
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- pytcl/mathematical_functions/special_functions/bessel.py,sha256=Xe62y2vrDwdJy3fR4U8_e8TAgisXIWJ94J7wu_xk0kI,14603
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+ pytcl/mathematical_functions/special_functions/bessel.py,sha256=kRRPafQMXmooBglEteccjb6Hct1LLq3Oze4JfLQ-AmY,15459
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  pytcl/mathematical_functions/special_functions/debye.py,sha256=eH7Y5qq5j-AMKKx7y8uMS_l_pb6z9_3SG6Igvnc1Fdg,9626
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- pytcl/mathematical_functions/special_functions/elliptic.py,sha256=WyzBkrfZufIR5dUmCKGcxp6KNpVDrU89NGLDyRrZOqQ,7418
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- pytcl/mathematical_functions/special_functions/error_functions.py,sha256=24-XRcAW-KF6ixEU5V7iB7brD8UVPPQ0b4Zz8gscRdw,6321
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- pytcl/mathematical_functions/special_functions/gamma_functions.py,sha256=XB7NHVgKzOEVKpUScqvG3L220bvwIRuUnm_ayO7lJRk,10243
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+ pytcl/mathematical_functions/special_functions/elliptic.py,sha256=mF3hVrErlK376pw-QZDoq_R6y8gnJAZAK5Kmuq8_0n4,8131
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+ pytcl/mathematical_functions/special_functions/error_functions.py,sha256=6i5HqQfYdcz0UNhLnHpoMCnWzzZypjckSHTC5ISrcHA,6990
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+ pytcl/mathematical_functions/special_functions/gamma_functions.py,sha256=riTiy1cqYFtJrzscw0vgTkCaPBCPDGN8Ge6qWAD1zBg,11086
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- pytcl/mathematical_functions/special_functions/lambert_w.py,sha256=ivRc4KH5Lwoxb_yijrJEwG0ITa0hhcYF7_gCfVBBNW4,6855
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- pytcl/mathematical_functions/special_functions/marcum_q.py,sha256=OZ5QjIB1e_XvRG8A-3dbZ13YXHtdk2EYVEPaqtgVr14,9580
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+ pytcl/mathematical_functions/special_functions/lambert_w.py,sha256=flLSf_7IY5sRXzd2aGgyXfJTRCjekgtvguBV3MhB9GE,6943
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+ pytcl/mathematical_functions/special_functions/marcum_q.py,sha256=ASQ2vVfhmx4iEvtZTyiQ60-Hy8Qxl_4XgJzYufayJaQ,9910
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  pytcl/mathematical_functions/statistics/__init__.py,sha256=dfypStgmnFmOrnWcm-3CEvLinONHraFgx9O66_37bqw,1278
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  pytcl/mathematical_functions/statistics/estimators.py,sha256=TLnYXSwk5MzBakZrzDBupbOB3ONmJI7q1-oB2xuSVQM,10831
@@ -135,14 +143,14 @@ pytcl/mathematical_functions/transforms/stft.py,sha256=olDzNH02Nta5GoeEdsdX1tTVK
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  pytcl/mathematical_functions/transforms/wavelets.py,sha256=lR71JX5vX_OXl1g9H89OGiimM_oqfU-WfGYJF3uD2z8,21887
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  pytcl/misc/__init__.py,sha256=SCHf_lQVfdl2gwUluHBiIloTF8HRH8EkgYfbNr7zOug,33
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  pytcl/navigation/__init__.py,sha256=k1_x_FnnPrIzGeNu7zejPtPubIhweBgCfwqlZJEMw0I,6042
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- pytcl/navigation/geodesy.py,sha256=zrpFhPFLr3N1byeE1pxXh-SmPixjuuoGK3_izEnAAdw,19719
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- pytcl/navigation/great_circle.py,sha256=u8iqMV6RNsAyzATzjJU11QFGA2pGEaiFJRakQwxTTs0,23326
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+ pytcl/navigation/geodesy.py,sha256=NH4Txv_VtUdBk6LkQqnSnPfRnG4WnoGF7zGwB-mIbJA,23140
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+ pytcl/navigation/great_circle.py,sha256=K7CLS8k1P4uN9jpq4Nzc6jk_bSmo-ppb3vyUJbwYjVg,25503
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  pytcl/navigation/ins.py,sha256=OIi8_RjrgEYl0MFpJEFMjIlpgX8DYGTEhdLEvqG-ABU,31151
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  pytcl/navigation/ins_gnss.py,sha256=euKF5JGgwmVBsw3jBf7_wa2z1BpZeVbSNmBuwzhGS6c,30157
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- pytcl/navigation/rhumb.py,sha256=lr1c3iEXfoOSfIyyXSRWv6He5TlaxEHbJy-dhqM1gRw,18224
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+ pytcl/navigation/rhumb.py,sha256=lEr3LJqowT-WsdSA4E-V7BFmaqxoI7OpJa05pl_-uGg,20562
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  pytcl/performance_evaluation/__init__.py,sha256=tM2pnBfDb2XbnLt4Y5MQ6w6XBwFy_5bf_y0toZmxx88,1859
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- pytcl/performance_evaluation/estimation_metrics.py,sha256=X1ZCpp8m6DV14N2wbMvlRwfORRKga8DgKmG3dROyJqA,12351
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- pytcl/performance_evaluation/track_metrics.py,sha256=Nd3royJkAelZV-Qggl8i72e7WocCxWomgliArvVAEkc,13342
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+ pytcl/performance_evaluation/estimation_metrics.py,sha256=5dNzgMYTWt0bdGfIWgmc8diWA5SgivLvaSt_OahUhfk,14593
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+ pytcl/performance_evaluation/track_metrics.py,sha256=4AJyU8mqczKnuOTi3eD8WqC56Xp2xxE-pwupM5WwBsE,14396
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  pytcl/physical_values/__init__.py,sha256=SGbg6b0d4dWebE3baW4OlJshL00grG5E4wABw6jxl20,44
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  pytcl/plotting/__init__.py,sha256=YtYnKYHL5lN6EaT_bwwR3h89NW0HSMToIWHhHBxcidY,3126
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  pytcl/plotting/coordinates.py,sha256=kk1UO5aRPCUt206QS4COgtaExZI1Mjhi4P6falQCQLI,17247
@@ -152,20 +160,20 @@ pytcl/plotting/tracks.py,sha256=RoQyjpMcPm16mQqj4RvDOzPgD6UpHCOid6hxAN3kGC0,2317
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  pytcl/scheduling/__init__.py,sha256=jTqMSKcsCrWU_Fh6WaT6BW5WatNHyyEYjFbsv6X18Oc,39
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  pytcl/static_estimation/__init__.py,sha256=sSEhqq35jq_MpRLnBtWjKXwGZ9dqIw71iwji-TNwXmc,2222
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  pytcl/static_estimation/least_squares.py,sha256=8ouOyRGC7K-W8fynZMWlc2-KAFojvTbuzcqi5uS_sVA,13432
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- pytcl/static_estimation/maximum_likelihood.py,sha256=nt1WShfZ0PlT_eA4gu2WcLiz9zZO9r90m_1PhWqDDgY,21821
156
- pytcl/static_estimation/robust.py,sha256=mpDUcc3-8F42SVGxXMv20huzekoGWattAa4px9tAZNM,18623
163
+ pytcl/static_estimation/maximum_likelihood.py,sha256=82tjFEEecNmTLrOrFKldEpkDrn4xC980qHZTZoOy3UY,23393
164
+ pytcl/static_estimation/robust.py,sha256=E9mmXcL1PycmyWvUnmLUbpErNvIbpu_XNAMGECmcMmU,20091
157
165
  pytcl/terrain/__init__.py,sha256=e7plNQI5Y_jpZ24r82AgqdX0ChmmyYoeT7HReclnGXc,3228
158
- pytcl/terrain/dem.py,sha256=rg2o0h0ZDrfxvtYhnE2A5tdzRnCmqcihu4w1uNJdH3Y,20814
166
+ pytcl/terrain/dem.py,sha256=3r1qV_FXaQDqEfUYJYSMrNNefd9hXRk8OGFkk3A3k9k,22881
159
167
  pytcl/terrain/loaders.py,sha256=3BbeFTaZ0I5bOlRFUcnP2eGQn-JyR2QDaUbIorDWdsg,27220
160
- pytcl/terrain/visibility.py,sha256=nIJr9AVk7C8GCpJV4UDvUjhmAieycWD8BLepAMUBMIQ,22739
168
+ pytcl/terrain/visibility.py,sha256=03pGWQGE4LY-DQFdqxPTHS-ZCYS9rJQNyAFnuQKe-3I,24992
161
169
  pytcl/trackers/__init__.py,sha256=Gw79xlSIUzdPV8bN1slNWUlGxE3d-NsVmbMygkYVV20,1151
162
- pytcl/trackers/hypothesis.py,sha256=ubK-q89cYayahSHIw5sVYD1fpRUEB0XvC6rQnI1WACA,17361
170
+ pytcl/trackers/hypothesis.py,sha256=cmcLWdSTbAoapl0EhsYcYBos7RXLzgHBfFVUUUh3Hmo,20210
163
171
  pytcl/trackers/mht.py,sha256=osEOXMaCeTt1eVn_E08dLRhEvBroVmf8b81zO5Zp1lU,20720
164
172
  pytcl/trackers/multi_target.py,sha256=RDITa0xnbgtVYAMj5XXp4lljo5lZ2zAAc02KZlOjxbQ,10526
165
173
  pytcl/trackers/single_target.py,sha256=Yy3FwaNTArMWcaod-0HVeiioNV4xLWxNDn_7ZPVqQYs,6562
166
174
  pytcl/transponders/__init__.py,sha256=5fL4u3lKCYgPLo5uFeuZbtRZkJPABntuKYGUvVgMMEI,41
167
- nrl_tracker-1.9.1.dist-info/LICENSE,sha256=rB5G4WppIIUzMOYr2N6uyYlNJ00hRJqE5tie6BMvYuE,1612
168
- nrl_tracker-1.9.1.dist-info/METADATA,sha256=DESL1GY4i_xV4n_gc4OdBfSMeCiNoh32058vSgQFu2M,12452
169
- nrl_tracker-1.9.1.dist-info/WHEEL,sha256=pL8R0wFFS65tNSRnaOVrsw9EOkOqxLrlUPenUYnJKNo,91
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- nrl_tracker-1.9.1.dist-info/top_level.txt,sha256=17megxcrTPBWwPZTh6jTkwTKxX7No-ZqRpyvElnnO-s,6
171
- nrl_tracker-1.9.1.dist-info/RECORD,,
175
+ nrl_tracker-1.10.0.dist-info/LICENSE,sha256=rB5G4WppIIUzMOYr2N6uyYlNJ00hRJqE5tie6BMvYuE,1612
176
+ nrl_tracker-1.10.0.dist-info/METADATA,sha256=WUCa_SI-MIoBVkEmPW-VCR8B25wWtet0OSKMQpBMTAc,14038
177
+ nrl_tracker-1.10.0.dist-info/WHEEL,sha256=pL8R0wFFS65tNSRnaOVrsw9EOkOqxLrlUPenUYnJKNo,91
178
+ nrl_tracker-1.10.0.dist-info/top_level.txt,sha256=17megxcrTPBWwPZTh6jTkwTKxX7No-ZqRpyvElnnO-s,6
179
+ nrl_tracker-1.10.0.dist-info/RECORD,,
pytcl/__init__.py CHANGED
@@ -6,7 +6,7 @@ systems, dynamic models, estimation algorithms, and mathematical functions.
6
6
 
7
7
  This is a Python port of the U.S. Naval Research Laboratory's Tracker Component
8
8
  Library originally written in MATLAB.
9
- **Current Version:** 1.9.1 (January 4, 2026)
9
+ **Current Version:** 1.10.0 (January 4, 2026)
10
10
  **Status:** Production-ready, 2,133 tests passing, 76% line coverage
11
11
  Examples
12
12
  --------
@@ -21,7 +21,7 @@ References
21
21
  no. 5, pp. 18-27, May 2017.
22
22
  """
23
23
 
24
- __version__ = "1.9.1"
24
+ __version__ = "1.10.0"
25
25
  __author__ = "Python Port Contributors"
26
26
  __original_author__ = "David F. Crouse, Naval Research Laboratory"
27
27
 
pytcl/assignment_algorithms/gating.py CHANGED
@@ -322,6 +322,24 @@ def compute_gate_volume(
322
322
  V = c_m * sqrt(det(S)) * gamma^(m/2)
323
323
 
324
324
  where c_m is the volume of the unit hypersphere in m dimensions.
325
+
326
+ Examples
327
+ --------
328
+ Compute gate volume for a 2D measurement with 99% gate probability:
329
+
330
+ >>> import numpy as np
331
+ >>> from scipy.stats import chi2
332
+ >>> S = np.array([[4.0, 0.0], [0.0, 1.0]]) # innovation covariance
333
+ >>> gate_prob = 0.99
334
+ >>> threshold = chi2.ppf(gate_prob, df=2)
335
+ >>> volume = compute_gate_volume(S, threshold)
336
+ >>> volume > 0
337
+ True
338
+
339
+ See Also
340
+ --------
341
+ ellipsoidal_gate : Test if measurement passes gate.
342
+ mahalanobis_distance : Compute distance used in gating.
325
343
  """
326
344
  S = np.asarray(innovation_covariance, dtype=np.float64)
327
345
  m = S.shape[0]
pytcl/assignment_algorithms/jpda.py CHANGED
@@ -136,6 +136,22 @@ def compute_likelihood_matrix(
136
136
  Likelihood values, shape (n_tracks, n_meas).
137
137
  gated : ndarray[Any]
138
138
  Boolean gating matrix, shape (n_tracks, n_meas).
139
+
140
+ Examples
141
+ --------
142
+ >>> import numpy as np
143
+ >>> # Two tracks, two measurements
144
+ >>> states = [np.array([0.0, 1.0]), np.array([5.0, 0.0])]
145
+ >>> covs = [np.eye(2) * 0.5, np.eye(2) * 0.5]
146
+ >>> measurements = np.array([[0.1], [5.2]])
147
+ >>> H = np.array([[1, 0]])
148
+ >>> R = np.array([[0.1]])
149
+ >>> L, gated = compute_likelihood_matrix(states, covs, measurements, H, R)
150
+ >>> L.shape
151
+ (2, 2)
152
+ >>> # Track 0 should have high likelihood for measurement 0
153
+ >>> L[0, 0] > L[0, 1]
154
+ True
139
155
  """
140
156
  n_tracks = len(track_states)
141
157
  n_meas = len(measurements)
@@ -191,6 +207,23 @@ def jpda_probabilities(
191
207
  Association probability matrix, shape (n_tracks, n_meas + 1).
192
208
  beta[i, j] = P(measurement j is from track i) for j < n_meas.
193
209
  beta[i, n_meas] = P(track i has no measurement).
210
+
211
+ Examples
212
+ --------
213
+ >>> import numpy as np
214
+ >>> # Likelihood matrix: 2 tracks, 2 measurements
215
+ >>> # Track 0 has high likelihood for meas 0
216
+ >>> # Track 1 has high likelihood for meas 1
217
+ >>> likelihood = np.array([[0.9, 0.1],
218
+ ... [0.1, 0.8]])
219
+ >>> gated = np.array([[True, True],
220
+ ... [True, True]])
221
+ >>> beta = jpda_probabilities(likelihood, gated, detection_prob=0.9)
222
+ >>> beta.shape # 2 tracks, 3 columns (2 meas + 1 miss)
223
+ (2, 3)
224
+ >>> # Track 0 most likely associated with measurement 0
225
+ >>> np.argmax(beta[0, :2])
226
+ 0
194
227
  """
195
228
  n_tracks, n_meas = likelihood_matrix.shape
196
229
 
@@ -591,6 +624,29 @@ def jpda(
591
624
  -------
592
625
  result : JPDAResult
593
626
  Association probabilities and related information.
627
+
628
+ Examples
629
+ --------
630
+ Compute association probabilities for 2 tracks and 3 measurements:
631
+
632
+ >>> import numpy as np
633
+ >>> # Two tracks with [x, vx] state
634
+ >>> states = [np.array([0.0, 1.0]), np.array([10.0, -0.5])]
635
+ >>> covariances = [np.eye(2) * 0.5, np.eye(2) * 0.5]
636
+ >>> # Three position measurements
637
+ >>> measurements = np.array([[0.1], [9.8], [5.0]])
638
+ >>> H = np.array([[1, 0]]) # measure position only
639
+ >>> R = np.array([[0.1]])
640
+ >>> result = jpda(states, covariances, measurements, H, R)
641
+ >>> result.association_probs.shape # (2 tracks, 4 columns: 3 meas + miss)
642
+ (2, 4)
643
+ >>> # Track 0 should have high prob for measurement 0
644
+ >>> result.association_probs[0, 0] > 0.5
645
+ True
646
+
647
+ See Also
648
+ --------
649
+ jpda_update : JPDA with state update.
594
650
  """
595
651
  # Convert inputs
596
652
  track_states = [np.asarray(x, dtype=np.float64).flatten() for x in track_states]
pytcl/assignment_algorithms/nd_assignment.py CHANGED
@@ -67,6 +67,20 @@ def validate_cost_tensor(cost_tensor: NDArray[np.float64]) -> Tuple[int, ...]:
67
67
  ------
68
68
  ValueError
69
69
  If tensor has fewer than 2 dimensions.
70
+
71
+ Examples
72
+ --------
73
+ >>> import numpy as np
74
+ >>> cost = np.random.rand(3, 4, 5)
75
+ >>> dims = validate_cost_tensor(cost)
76
+ >>> dims
77
+ (3, 4, 5)
78
+ >>> # 1D tensor should raise error
79
+ >>> try:
80
+ ... validate_cost_tensor(np.array([1, 2, 3]))
81
+ ... except ValueError:
82
+ ... print("Caught expected error")
83
+ Caught expected error
70
84
  """
71
85
  if cost_tensor.ndim < 2:
72
86
  raise ValueError(
@@ -98,6 +112,21 @@ def greedy_assignment_nd(
98
112
  AssignmentNDResult
99
113
  Assignments, total cost, and algorithm info.
100
114
 
115
+ Examples
116
+ --------
117
+ >>> import numpy as np
118
+ >>> # 3D cost tensor: 3 measurements x 2 tracks x 2 hypotheses
119
+ >>> cost = np.array([
120
+ ... [[1.0, 5.0], [3.0, 2.0]], # meas 0
121
+ ... [[4.0, 1.0], [2.0, 6.0]], # meas 1
122
+ ... [[2.0, 3.0], [5.0, 1.0]], # meas 2
123
+ ... ])
124
+ >>> result = greedy_assignment_nd(cost)
125
+ >>> result.cost # Total cost of greedy solution
126
+ 4.0
127
+ >>> len(result.assignments) # Number of assignments made
128
+ 2
129
+
101
130
  Notes
102
131
  -----
103
132
  Greedy assignment is fast O(n log n) but not optimal. Used as
@@ -178,6 +207,18 @@ def relaxation_assignment_nd(
178
207
  AssignmentNDResult
179
208
  Assignments, total cost, convergence info, and optimality gap.
180
209
 
210
+ Examples
211
+ --------
212
+ >>> import numpy as np
213
+ >>> # 3x3x3 assignment problem
214
+ >>> np.random.seed(42)
215
+ >>> cost = np.random.rand(3, 3, 3)
216
+ >>> result = relaxation_assignment_nd(cost, max_iterations=50)
217
+ >>> result.converged
218
+ True
219
+ >>> result.assignments.shape[1] # 3D assignments
220
+ 3
221
+
181
222
  Notes
182
223
  -----
183
224
  The relaxation approach:
@@ -297,6 +338,18 @@ def auction_assignment_nd(
297
338
  AssignmentNDResult
298
339
  Assignments, total cost, convergence info, gap estimate.
299
340
 
341
+ Examples
342
+ --------
343
+ >>> import numpy as np
344
+ >>> # 4D assignment: sensors x measurements x tracks x hypotheses
345
+ >>> np.random.seed(123)
346
+ >>> cost = np.random.rand(2, 3, 3, 2) * 10
347
+ >>> result = auction_assignment_nd(cost, max_iterations=50, epsilon=0.1)
348
+ >>> len(result.assignments) > 0
349
+ True
350
+ >>> result.n_iterations <= 50
351
+ True
352
+
300
353
  Notes
301
354
  -----
302
355
  The algorithm maintains a "price" for each index and allows bidding
@@ -368,6 +421,18 @@ def detect_dimension_conflicts(
368
421
  -------
369
422
  has_conflicts : bool
370
423
  True if any index appears more than once in any dimension.
424
+
425
+ Examples
426
+ --------
427
+ >>> import numpy as np
428
+ >>> # Valid assignment: no index repeated in any dimension
429
+ >>> assignments = np.array([[0, 0], [1, 1]])
430
+ >>> detect_dimension_conflicts(assignments, (3, 3))
431
+ False
432
+ >>> # Invalid: index 0 used twice in first dimension
433
+ >>> assignments = np.array([[0, 0], [0, 1]])
434
+ >>> detect_dimension_conflicts(assignments, (3, 3))
435
+ True
371
436
  """
372
437
  n_dims = len(dims)
373
438
 
pytcl/assignment_algorithms/network_flow.py CHANGED
@@ -104,6 +104,20 @@ def assignment_to_flow_network(
104
104
  Positive = supply, negative = demand.
105
105
  node_names : ndarray
106
106
  Names of nodes for reference.
107
+
108
+ Examples
109
+ --------
110
+ >>> import numpy as np
111
+ >>> # 2 workers, 3 tasks
112
+ >>> cost = np.array([[1.0, 2.0, 3.0],
113
+ ... [4.0, 5.0, 6.0]])
114
+ >>> edges, supplies, names = assignment_to_flow_network(cost)
115
+ >>> len(edges) # source->workers + workers->tasks + tasks->sink
116
+ 11
117
+ >>> supplies[0] # source supplies 2 (num workers)
118
+ 2.0
119
+ >>> names[0]
120
+ 'source'
107
121
  """
108
122
  m, n = cost_matrix.shape
109
123
 
@@ -187,6 +201,20 @@ def min_cost_flow_successive_shortest_paths(
187
201
  MinCostFlowResult
188
202
  Solution with flow values, cost, status, and iterations.
189
203
 
204
+ Examples
205
+ --------
206
+ >>> import numpy as np
207
+ >>> from pytcl.assignment_algorithms.network_flow import (
208
+ ... FlowEdge, assignment_to_flow_network
209
+ ... )
210
+ >>> cost = np.array([[1.0, 5.0], [4.0, 2.0]])
211
+ >>> edges, supplies, _ = assignment_to_flow_network(cost)
212
+ >>> result = min_cost_flow_successive_shortest_paths(edges, supplies)
213
+ >>> result.status == FlowStatus.OPTIMAL
214
+ True
215
+ >>> result.cost # Optimal is 1+2=3 (diagonal)
216
+ 3.0
217
+
190
218
  Notes
191
219
  -----
192
220
  This is a simplified implementation using Bellman-Ford for shortest
@@ -445,6 +473,18 @@ def min_cost_assignment_via_flow(
445
473
  total_cost : float
446
474
  Total assignment cost.
447
475
 
476
+ Examples
477
+ --------
478
+ >>> import numpy as np
479
+ >>> cost = np.array([[1.0, 5.0, 9.0],
480
+ ... [3.0, 2.0, 8.0],
481
+ ... [7.0, 6.0, 4.0]])
482
+ >>> assignment, total_cost = min_cost_assignment_via_flow(cost)
483
+ >>> total_cost # Optimal assignment: (0,0), (1,1), (2,2) = 1+2+4 = 7
484
+ 7.0
485
+ >>> len(assignment)
486
+ 3
487
+
448
488
  Notes
449
489
  -----
450
490
  Phase 1B: Dijkstra-based optimization provides O(K*E log V) vs