nrl-tracker 1.9.1__tar.gz → 1.10.0__tar.gz

{nrl_tracker-1.9.1 → nrl_tracker-1.10.0}/CONTRIBUTING.md

@@ -222,11 +222,12 @@ When porting a function from the original MATLAB library:
 
 ## Current Development Status
 
-**Version:** v1.9.0
+**Version:** v1.10.0
 **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)
+**GPU Acceleration:** CuPy (NVIDIA) + MLX (Apple Silicon)
 
 ## v2.0.0 Roadmap - 8 Phases Over 18 Months
 
@@ -301,12 +302,13 @@ pytest --collect-only -q | tail -1
 pytest --cov=pytcl --cov-report=term
 ```
 
-Current metrics (v1.9.0):
+Current metrics (v1.10.0):
 - **Functions:** 1,070+
 - **Modules:** 150+
 - **Tests:** 2,133 (all passing)
 - **Coverage:** 76%
 - **MATLAB Parity:** 100%
+- **GPU Backends:** 2 (CuPy + MLX)
 
 ### 3. Sync Examples
 

{nrl_tracker-1.9.1/nrl_tracker.egg-info → nrl_tracker-1.10.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 1.9.1
+Version: 1.10.0
 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
@@ -41,11 +41,17 @@ Provides-Extra: optimization
 Requires-Dist: cvxpy>=1.3.0; extra == "optimization"
 Provides-Extra: signal
 Requires-Dist: pywavelets>=1.4.0; extra == "signal"
+Provides-Extra: gpu
+Requires-Dist: cupy-cuda12x>=12.0.0; extra == "gpu"
+Provides-Extra: gpu-apple
+Requires-Dist: mlx>=0.5.0; extra == "gpu-apple"
 Provides-Extra: dev
 Requires-Dist: pytest>=7.0.0; extra == "dev"
 Requires-Dist: pytest-cov>=4.0.0; extra == "dev"
 Requires-Dist: pytest-xdist>=3.0.0; extra == "dev"
 Requires-Dist: pytest-benchmark>=4.0.0; extra == "dev"
+Requires-Dist: pytest-timeout>=2.0.0; extra == "dev"
+Requires-Dist: nbval>=0.10.0; extra == "dev"
 Requires-Dist: hypothesis>=6.0.0; extra == "dev"
 Requires-Dist: black>=23.0.0; extra == "dev"
 Requires-Dist: isort>=5.12.0; extra == "dev"
@@ -56,6 +62,8 @@ Requires-Dist: sphinx>=6.0.0; extra == "dev"
 Requires-Dist: sphinx-rtd-theme>=1.2.0; extra == "dev"
 Requires-Dist: myst-parser>=1.0.0; extra == "dev"
 Requires-Dist: nbsphinx>=0.9.0; extra == "dev"
+Requires-Dist: jupyter>=1.0.0; extra == "dev"
+Requires-Dist: ipykernel>=6.0.0; extra == "dev"
 Provides-Extra: benchmark
 Requires-Dist: pytest-benchmark>=4.0.0; extra == "benchmark"
 Provides-Extra: all
@@ -63,17 +71,17 @@ Requires-Dist: nrl-tracker[astronomy,dev,geodesy,optimization,signal,visualizati
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.9.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v1.10.0-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)
-[![Tests](https://img.shields.io/badge/tests-1988%20passing-success.svg)](https://github.com/nedonatelli/TCL)
+[![Tests](https://img.shields.io/badge/tests-2133%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.
 
-**1,070+ functions** | **153 modules** | **1,988 tests** | **100% MATLAB parity**
+**1,070+ functions** | **153 modules** | **2,133 tests** | **100% MATLAB parity**
 
 ## Overview
 
@@ -90,6 +98,7 @@ The Tracker Component Library provides building blocks for developing target tra
 - **Navigation**: Geodetic calculations, INS mechanization, GNSS utilities, INS/GNSS integration
 - **Geophysical Models**: Gravity (WGS84, EGM96/2008), magnetism (WMM, IGRF), atmosphere, tides, terrain
 - **Signal Processing**: Digital filters, matched filtering, CFAR detection, transforms (FFT, STFT, wavelets)
+- **GPU Acceleration**: CuPy (NVIDIA CUDA) and MLX (Apple Silicon) backends for batch Kalman filtering and particle filters
 
 ## Installation
 
@@ -111,6 +120,12 @@ pip install nrl-tracker[geodesy]
 # For visualization
 pip install nrl-tracker[visualization]
 
+# For GPU acceleration (NVIDIA CUDA)
+pip install nrl-tracker[gpu]
+
+# For GPU acceleration (Apple Silicon M1/M2/M3)
+pip install nrl-tracker[gpu-apple]
+
 # For development
 pip install nrl-tracker[dev]
 
@@ -183,6 +198,35 @@ assignment, total_cost = hungarian(cost_matrix)
 print(f"Optimal assignment: {assignment}, Total cost: {total_cost}")
 ```
 
+### GPU Acceleration
+
+The library supports GPU acceleration for batch processing of multiple tracks:
+
+```python
+from pytcl.gpu import is_gpu_available, get_backend, to_gpu, to_cpu
+
+# Check GPU availability (auto-detects CUDA or Apple Silicon)
+if is_gpu_available():
+    print(f"GPU available, using {get_backend()} backend")
+
+    # Transfer data to GPU
+    x_gpu = to_gpu(states)  # (n_tracks, state_dim)
+    P_gpu = to_gpu(covariances)  # (n_tracks, state_dim, state_dim)
+
+    # Use batch Kalman filter operations
+    from pytcl.gpu import batch_kf_predict
+    x_pred, P_pred = batch_kf_predict(x_gpu, P_gpu, F, Q)
+
+    # Transfer results back to CPU
+    x_pred_cpu = to_cpu(x_pred)
+```
+
+**Supported backends:**
+- **NVIDIA CUDA**: Via CuPy (`pip install nrl-tracker[gpu]`)
+- **Apple Silicon**: Via MLX (`pip install nrl-tracker[gpu-apple]`)
+
+The backend is automatically selected based on your platform.
+
 ## Module Structure
 
 ```
@@ -202,6 +246,7 @@ pytcl/
 ├── gravity/                 # Gravity models
 ├── magnetism/               # Magnetic field models
 ├── terrain/                 # Terrain elevation models
+├── gpu/                     # GPU acceleration (CuPy/MLX)
 └── misc/                    # Utilities, visualization
 ```
 

{nrl_tracker-1.9.1 → nrl_tracker-1.10.0}/README.md

@@ -1,16 +1,16 @@
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.9.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v1.10.0-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)
-[![Tests](https://img.shields.io/badge/tests-1988%20passing-success.svg)](https://github.com/nedonatelli/TCL)
+[![Tests](https://img.shields.io/badge/tests-2133%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.
 
-**1,070+ functions** | **153 modules** | **1,988 tests** | **100% MATLAB parity**
+**1,070+ functions** | **153 modules** | **2,133 tests** | **100% MATLAB parity**
 
 ## Overview
 
@@ -27,6 +27,7 @@ The Tracker Component Library provides building blocks for developing target tra
 - **Navigation**: Geodetic calculations, INS mechanization, GNSS utilities, INS/GNSS integration
 - **Geophysical Models**: Gravity (WGS84, EGM96/2008), magnetism (WMM, IGRF), atmosphere, tides, terrain
 - **Signal Processing**: Digital filters, matched filtering, CFAR detection, transforms (FFT, STFT, wavelets)
+- **GPU Acceleration**: CuPy (NVIDIA CUDA) and MLX (Apple Silicon) backends for batch Kalman filtering and particle filters
 
 ## Installation
 
@@ -48,6 +49,12 @@ pip install nrl-tracker[geodesy]
 # For visualization
 pip install nrl-tracker[visualization]
 
+# For GPU acceleration (NVIDIA CUDA)
+pip install nrl-tracker[gpu]
+
+# For GPU acceleration (Apple Silicon M1/M2/M3)
+pip install nrl-tracker[gpu-apple]
+
 # For development
 pip install nrl-tracker[dev]
 
@@ -120,6 +127,35 @@ assignment, total_cost = hungarian(cost_matrix)
 print(f"Optimal assignment: {assignment}, Total cost: {total_cost}")
 ```
 
+### GPU Acceleration
+
+The library supports GPU acceleration for batch processing of multiple tracks:
+
+```python
+from pytcl.gpu import is_gpu_available, get_backend, to_gpu, to_cpu
+
+# Check GPU availability (auto-detects CUDA or Apple Silicon)
+if is_gpu_available():
+    print(f"GPU available, using {get_backend()} backend")
+
+    # Transfer data to GPU
+    x_gpu = to_gpu(states)  # (n_tracks, state_dim)
+    P_gpu = to_gpu(covariances)  # (n_tracks, state_dim, state_dim)
+
+    # Use batch Kalman filter operations
+    from pytcl.gpu import batch_kf_predict
+    x_pred, P_pred = batch_kf_predict(x_gpu, P_gpu, F, Q)
+
+    # Transfer results back to CPU
+    x_pred_cpu = to_cpu(x_pred)
+```
+
+**Supported backends:**
+- **NVIDIA CUDA**: Via CuPy (`pip install nrl-tracker[gpu]`)
+- **Apple Silicon**: Via MLX (`pip install nrl-tracker[gpu-apple]`)
+
+The backend is automatically selected based on your platform.
+
 ## Module Structure
 
 ```
@@ -139,6 +175,7 @@ pytcl/
 ├── gravity/                 # Gravity models
 ├── magnetism/               # Magnetic field models
 ├── terrain/                 # Terrain elevation models
+├── gpu/                     # GPU acceleration (CuPy/MLX)
 └── misc/                    # Utilities, visualization
 ```
 

{nrl_tracker-1.9.1 → nrl_tracker-1.10.0/nrl_tracker.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 1.9.1
+Version: 1.10.0
 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
@@ -41,11 +41,17 @@ Provides-Extra: optimization
 Requires-Dist: cvxpy>=1.3.0; extra == "optimization"
 Provides-Extra: signal
 Requires-Dist: pywavelets>=1.4.0; extra == "signal"
+Provides-Extra: gpu
+Requires-Dist: cupy-cuda12x>=12.0.0; extra == "gpu"
+Provides-Extra: gpu-apple
+Requires-Dist: mlx>=0.5.0; extra == "gpu-apple"
 Provides-Extra: dev
 Requires-Dist: pytest>=7.0.0; extra == "dev"
 Requires-Dist: pytest-cov>=4.0.0; extra == "dev"
 Requires-Dist: pytest-xdist>=3.0.0; extra == "dev"
 Requires-Dist: pytest-benchmark>=4.0.0; extra == "dev"
+Requires-Dist: pytest-timeout>=2.0.0; extra == "dev"
+Requires-Dist: nbval>=0.10.0; extra == "dev"
 Requires-Dist: hypothesis>=6.0.0; extra == "dev"
 Requires-Dist: black>=23.0.0; extra == "dev"
 Requires-Dist: isort>=5.12.0; extra == "dev"
@@ -56,6 +62,8 @@ Requires-Dist: sphinx>=6.0.0; extra == "dev"
 Requires-Dist: sphinx-rtd-theme>=1.2.0; extra == "dev"
 Requires-Dist: myst-parser>=1.0.0; extra == "dev"
 Requires-Dist: nbsphinx>=0.9.0; extra == "dev"
+Requires-Dist: jupyter>=1.0.0; extra == "dev"
+Requires-Dist: ipykernel>=6.0.0; extra == "dev"
 Provides-Extra: benchmark
 Requires-Dist: pytest-benchmark>=4.0.0; extra == "benchmark"
 Provides-Extra: all
@@ -63,17 +71,17 @@ Requires-Dist: nrl-tracker[astronomy,dev,geodesy,optimization,signal,visualizati
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.9.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v1.10.0-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)
-[![Tests](https://img.shields.io/badge/tests-1988%20passing-success.svg)](https://github.com/nedonatelli/TCL)
+[![Tests](https://img.shields.io/badge/tests-2133%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.
 
-**1,070+ functions** | **153 modules** | **1,988 tests** | **100% MATLAB parity**
+**1,070+ functions** | **153 modules** | **2,133 tests** | **100% MATLAB parity**
 
 ## Overview
 
@@ -90,6 +98,7 @@ The Tracker Component Library provides building blocks for developing target tra
 - **Navigation**: Geodetic calculations, INS mechanization, GNSS utilities, INS/GNSS integration
 - **Geophysical Models**: Gravity (WGS84, EGM96/2008), magnetism (WMM, IGRF), atmosphere, tides, terrain
 - **Signal Processing**: Digital filters, matched filtering, CFAR detection, transforms (FFT, STFT, wavelets)
+- **GPU Acceleration**: CuPy (NVIDIA CUDA) and MLX (Apple Silicon) backends for batch Kalman filtering and particle filters
 
 ## Installation
 
@@ -111,6 +120,12 @@ pip install nrl-tracker[geodesy]
 # For visualization
 pip install nrl-tracker[visualization]
 
+# For GPU acceleration (NVIDIA CUDA)
+pip install nrl-tracker[gpu]
+
+# For GPU acceleration (Apple Silicon M1/M2/M3)
+pip install nrl-tracker[gpu-apple]
+
 # For development
 pip install nrl-tracker[dev]
 
@@ -183,6 +198,35 @@ assignment, total_cost = hungarian(cost_matrix)
 print(f"Optimal assignment: {assignment}, Total cost: {total_cost}")
 ```
 
+### GPU Acceleration
+
+The library supports GPU acceleration for batch processing of multiple tracks:
+
+```python
+from pytcl.gpu import is_gpu_available, get_backend, to_gpu, to_cpu
+
+# Check GPU availability (auto-detects CUDA or Apple Silicon)
+if is_gpu_available():
+    print(f"GPU available, using {get_backend()} backend")
+
+    # Transfer data to GPU
+    x_gpu = to_gpu(states)  # (n_tracks, state_dim)
+    P_gpu = to_gpu(covariances)  # (n_tracks, state_dim, state_dim)
+
+    # Use batch Kalman filter operations
+    from pytcl.gpu import batch_kf_predict
+    x_pred, P_pred = batch_kf_predict(x_gpu, P_gpu, F, Q)
+
+    # Transfer results back to CPU
+    x_pred_cpu = to_cpu(x_pred)
+```
+
+**Supported backends:**
+- **NVIDIA CUDA**: Via CuPy (`pip install nrl-tracker[gpu]`)
+- **Apple Silicon**: Via MLX (`pip install nrl-tracker[gpu-apple]`)
+
+The backend is automatically selected based on your platform.
+
 ## Module Structure
 
 ```
@@ -202,6 +246,7 @@ pytcl/
 ├── gravity/                 # Gravity models
 ├── magnetism/               # Magnetic field models
 ├── terrain/                 # Terrain elevation models
+├── gpu/                     # GPU acceleration (CuPy/MLX)
 └── misc/                    # Utilities, visualization
 ```
 

{nrl_tracker-1.9.1 → nrl_tracker-1.10.0}/nrl_tracker.egg-info/SOURCES.txt

@@ -65,6 +65,7 @@ pytcl/core/__init__.py
 pytcl/core/array_utils.py
 pytcl/core/constants.py
 pytcl/core/exceptions.py
+pytcl/core/maturity.py
 pytcl/core/optional_deps.py
 pytcl/core/validation.py
 pytcl/dynamic_estimation/__init__.py
@@ -99,6 +100,13 @@ pytcl/dynamic_models/process_noise/__init__.py
 pytcl/dynamic_models/process_noise/coordinated_turn.py
 pytcl/dynamic_models/process_noise/polynomial.py
 pytcl/dynamic_models/process_noise/singer.py
+pytcl/gpu/__init__.py
+pytcl/gpu/ekf.py
+pytcl/gpu/kalman.py
+pytcl/gpu/matrix_utils.py
+pytcl/gpu/particle_filter.py
+pytcl/gpu/ukf.py
+pytcl/gpu/utils.py
 pytcl/gravity/__init__.py
 pytcl/gravity/clenshaw.py
 pytcl/gravity/egm.py
@@ -192,6 +200,8 @@ tests/test_exceptions.py
 tests/test_gaussian_mixtures.py
 tests/test_gaussian_sum_filter.py
 tests/test_geophysical.py
+tests/test_gpu.py
+tests/test_gpu_utils.py
 tests/test_great_circle.py
 tests/test_h_infinity.py
 tests/test_ins.py

{nrl_tracker-1.9.1 → nrl_tracker-1.10.0}/nrl_tracker.egg-info/requires.txt

@@ -17,6 +17,8 @@ pytest>=7.0.0
 pytest-cov>=4.0.0
 pytest-xdist>=3.0.0
 pytest-benchmark>=4.0.0
+pytest-timeout>=2.0.0
+nbval>=0.10.0
 hypothesis>=6.0.0
 black>=23.0.0
 isort>=5.12.0
@@ -27,11 +29,19 @@ sphinx>=6.0.0
 sphinx-rtd-theme>=1.2.0
 myst-parser>=1.0.0
 nbsphinx>=0.9.0
+jupyter>=1.0.0
+ipykernel>=6.0.0
 
 [geodesy]
 pyproj>=3.4.0
 geographiclib>=2.0
 
+[gpu]
+cupy-cuda12x>=12.0.0
+
+[gpu-apple]
+mlx>=0.5.0
+
 [optimization]
 cvxpy>=1.3.0
 

{nrl_tracker-1.9.1 → nrl_tracker-1.10.0}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "nrl-tracker"
-version = "1.9.1"
+version = "1.10.0"
 description = "Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms"
 readme = "README.md"
 authors = [
@@ -63,11 +63,19 @@ optimization = [
 signal = [
     "pywavelets>=1.4.0",
 ]
+gpu = [
+    "cupy-cuda12x>=12.0.0",
+]
+gpu-apple = [
+    "mlx>=0.5.0",
+]
 dev = [
     "pytest>=7.0.0",
     "pytest-cov>=4.0.0",
     "pytest-xdist>=3.0.0",
     "pytest-benchmark>=4.0.0",
+    "pytest-timeout>=2.0.0",
+    "nbval>=0.10.0",
     "hypothesis>=6.0.0",
     "black>=23.0.0",
     "isort>=5.12.0",
@@ -78,6 +86,8 @@ dev = [
     "sphinx-rtd-theme>=1.2.0",
     "myst-parser>=1.0.0",
     "nbsphinx>=0.9.0",
+    "jupyter>=1.0.0",
+    "ipykernel>=6.0.0",
 ]
 benchmark = [
     "pytest-benchmark>=4.0.0",
@@ -107,6 +117,7 @@ markers = [
     "benchmark: marks tests as benchmarks",
     "light: marks benchmark as part of light (PR) suite",
     "full: marks benchmark as part of full (main) suite",
+    "notebook: marks notebook validation tests",
 ]
 filterwarnings = [
     "ignore::DeprecationWarning",
@@ -176,5 +187,7 @@ module = [
     "plotly.*",
     "cvxpy.*",
     "pywt.*",
+    "cupy.*",
+    "mlx.*",
 ]
 ignore_missing_imports = true

{nrl_tracker-1.9.1 → nrl_tracker-1.10.0}/pytcl/__init__.py

@@ -6,7 +6,7 @@ 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:** 1.9.1 (January 4, 2026)
+**Current Version:** 1.10.0 (January 4, 2026)
 **Status:** Production-ready, 2,133 tests passing, 76% line coverage
 Examples
 --------
@@ -21,7 +21,7 @@ References
        no. 5, pp. 18-27, May 2017.
 """
 
-__version__ = "1.9.1"
+__version__ = "1.10.0"
 __author__ = "Python Port Contributors"
 __original_author__ = "David F. Crouse, Naval Research Laboratory"
 

{nrl_tracker-1.9.1 → nrl_tracker-1.10.0}/pytcl/assignment_algorithms/gating.py

@@ -322,6 +322,24 @@ def compute_gate_volume(
         V = c_m * sqrt(det(S)) * gamma^(m/2)
 
     where c_m is the volume of the unit hypersphere in m dimensions.
+
+    Examples
+    --------
+    Compute gate volume for a 2D measurement with 99% gate probability:
+
+    >>> import numpy as np
+    >>> from scipy.stats import chi2
+    >>> S = np.array([[4.0, 0.0], [0.0, 1.0]])  # innovation covariance
+    >>> gate_prob = 0.99
+    >>> threshold = chi2.ppf(gate_prob, df=2)
+    >>> volume = compute_gate_volume(S, threshold)
+    >>> volume > 0
+    True
+
+    See Also
+    --------
+    ellipsoidal_gate : Test if measurement passes gate.
+    mahalanobis_distance : Compute distance used in gating.
     """
     S = np.asarray(innovation_covariance, dtype=np.float64)
     m = S.shape[0]

{nrl_tracker-1.9.1 → nrl_tracker-1.10.0}/pytcl/assignment_algorithms/jpda.py

@@ -136,6 +136,22 @@ def compute_likelihood_matrix(
         Likelihood values, shape (n_tracks, n_meas).
     gated : ndarray[Any]
         Boolean gating matrix, shape (n_tracks, n_meas).
+
+    Examples
+    --------
+    >>> import numpy as np
+    >>> # Two tracks, two measurements
+    >>> states = [np.array([0.0, 1.0]), np.array([5.0, 0.0])]
+    >>> covs = [np.eye(2) * 0.5, np.eye(2) * 0.5]
+    >>> measurements = np.array([[0.1], [5.2]])
+    >>> H = np.array([[1, 0]])
+    >>> R = np.array([[0.1]])
+    >>> L, gated = compute_likelihood_matrix(states, covs, measurements, H, R)
+    >>> L.shape
+    (2, 2)
+    >>> # Track 0 should have high likelihood for measurement 0
+    >>> L[0, 0] > L[0, 1]
+    True
     """
     n_tracks = len(track_states)
     n_meas = len(measurements)
@@ -191,6 +207,23 @@ def jpda_probabilities(
         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).
+
+    Examples
+    --------
+    >>> import numpy as np
+    >>> # Likelihood matrix: 2 tracks, 2 measurements
+    >>> # Track 0 has high likelihood for meas 0
+    >>> # Track 1 has high likelihood for meas 1
+    >>> likelihood = np.array([[0.9, 0.1],
+    ...                        [0.1, 0.8]])
+    >>> gated = np.array([[True, True],
+    ...                   [True, True]])
+    >>> beta = jpda_probabilities(likelihood, gated, detection_prob=0.9)
+    >>> beta.shape  # 2 tracks, 3 columns (2 meas + 1 miss)
+    (2, 3)
+    >>> # Track 0 most likely associated with measurement 0
+    >>> np.argmax(beta[0, :2])
+    0
     """
     n_tracks, n_meas = likelihood_matrix.shape
 
@@ -591,6 +624,29 @@ def jpda(
     -------
     result : JPDAResult
         Association probabilities and related information.
+
+    Examples
+    --------
+    Compute association probabilities for 2 tracks and 3 measurements:
+
+    >>> import numpy as np
+    >>> # Two tracks with [x, vx] state
+    >>> states = [np.array([0.0, 1.0]), np.array([10.0, -0.5])]
+    >>> covariances = [np.eye(2) * 0.5, np.eye(2) * 0.5]
+    >>> # Three position measurements
+    >>> measurements = np.array([[0.1], [9.8], [5.0]])
+    >>> H = np.array([[1, 0]])  # measure position only
+    >>> R = np.array([[0.1]])
+    >>> result = jpda(states, covariances, measurements, H, R)
+    >>> result.association_probs.shape  # (2 tracks, 4 columns: 3 meas + miss)
+    (2, 4)
+    >>> # Track 0 should have high prob for measurement 0
+    >>> result.association_probs[0, 0] > 0.5
+    True
+
+    See Also
+    --------
+    jpda_update : JPDA with state update.
     """
     # Convert inputs
     track_states = [np.asarray(x, dtype=np.float64).flatten() for x in track_states]

{nrl_tracker-1.9.1 → nrl_tracker-1.10.0}/pytcl/assignment_algorithms/nd_assignment.py

@@ -67,6 +67,20 @@ def validate_cost_tensor(cost_tensor: NDArray[np.float64]) -> Tuple[int, ...]:
     ------
     ValueError
         If tensor has fewer than 2 dimensions.
+
+    Examples
+    --------
+    >>> import numpy as np
+    >>> cost = np.random.rand(3, 4, 5)
+    >>> dims = validate_cost_tensor(cost)
+    >>> dims
+    (3, 4, 5)
+    >>> # 1D tensor should raise error
+    >>> try:
+    ...     validate_cost_tensor(np.array([1, 2, 3]))
+    ... except ValueError:
+    ...     print("Caught expected error")
+    Caught expected error
     """
     if cost_tensor.ndim < 2:
         raise ValueError(
@@ -98,6 +112,21 @@ def greedy_assignment_nd(
     AssignmentNDResult
         Assignments, total cost, and algorithm info.
 
+    Examples
+    --------
+    >>> import numpy as np
+    >>> # 3D cost tensor: 3 measurements x 2 tracks x 2 hypotheses
+    >>> cost = np.array([
+    ...     [[1.0, 5.0], [3.0, 2.0]],   # meas 0
+    ...     [[4.0, 1.0], [2.0, 6.0]],   # meas 1
+    ...     [[2.0, 3.0], [5.0, 1.0]],   # meas 2
+    ... ])
+    >>> result = greedy_assignment_nd(cost)
+    >>> result.cost  # Total cost of greedy solution
+    4.0
+    >>> len(result.assignments)  # Number of assignments made
+    2
+
     Notes
     -----
     Greedy assignment is fast O(n log n) but not optimal. Used as
@@ -178,6 +207,18 @@ def relaxation_assignment_nd(
     AssignmentNDResult
         Assignments, total cost, convergence info, and optimality gap.
 
+    Examples
+    --------
+    >>> import numpy as np
+    >>> # 3x3x3 assignment problem
+    >>> np.random.seed(42)
+    >>> cost = np.random.rand(3, 3, 3)
+    >>> result = relaxation_assignment_nd(cost, max_iterations=50)
+    >>> result.converged
+    True
+    >>> result.assignments.shape[1]  # 3D assignments
+    3
+
     Notes
     -----
     The relaxation approach:
@@ -297,6 +338,18 @@ def auction_assignment_nd(
     AssignmentNDResult
         Assignments, total cost, convergence info, gap estimate.
 
+    Examples
+    --------
+    >>> import numpy as np
+    >>> # 4D assignment: sensors x measurements x tracks x hypotheses
+    >>> np.random.seed(123)
+    >>> cost = np.random.rand(2, 3, 3, 2) * 10
+    >>> result = auction_assignment_nd(cost, max_iterations=50, epsilon=0.1)
+    >>> len(result.assignments) > 0
+    True
+    >>> result.n_iterations <= 50
+    True
+
     Notes
     -----
     The algorithm maintains a "price" for each index and allows bidding
@@ -368,6 +421,18 @@ def detect_dimension_conflicts(
     -------
     has_conflicts : bool
         True if any index appears more than once in any dimension.
+
+    Examples
+    --------
+    >>> import numpy as np
+    >>> # Valid assignment: no index repeated in any dimension
+    >>> assignments = np.array([[0, 0], [1, 1]])
+    >>> detect_dimension_conflicts(assignments, (3, 3))
+    False
+    >>> # Invalid: index 0 used twice in first dimension
+    >>> assignments = np.array([[0, 0], [0, 1]])
+    >>> detect_dimension_conflicts(assignments, (3, 3))
+    True
     """
     n_dims = len(dims)