nrl-tracker 1.9.2__py3-none-any.whl → 1.10.0__py3-none-any.whl

{nrl_tracker-1.9.2.dist-info → nrl_tracker-1.10.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 1.9.2
+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
@@ -41,6 +41,8 @@ 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"
@@ -51,9 +53,15 @@ 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: geodesy
 Requires-Dist: pyproj>=3.4.0; extra == "geodesy"
 Requires-Dist: geographiclib>=2.0; extra == "geodesy"
+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: optimization
 Requires-Dist: cvxpy>=1.3.0; extra == "optimization"
 Provides-Extra: signal
@@ -63,7 +71,7 @@ Requires-Dist: plotly>=5.15.0; extra == "visualization"
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.9.2-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)
@@ -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-1.9.2.dist-info → nrl_tracker-1.10.0.dist-info}/RECORD

@@ -1,4 +1,4 @@
-pytcl/__init__.py,sha256=7ROietZU-pUiPRpioyeMjjZ6XybbmjRs1qRR_KoXioQ,2030
+pytcl/__init__.py,sha256=DEk9yoH37UzqAZycMHTVEm6GgrN3uhXfObXQs3o28kI,2032
 pytcl/logging_config.py,sha256=UJaYufQgNuIjpsOMTPo3ewz1XCHPk8a08jTHyP7uoI4,8956
 pytcl/assignment_algorithms/__init__.py,sha256=kUWhmyLhZcs5GiUQA5_v7KA3qETGsvqV6wU8r7paO-k,2976
 pytcl/assignment_algorithms/data_association.py,sha256=tsRxWJZk9aAPmE99BKXGouEpFfZrjPjb4HXvgxFUHhU,11405
@@ -56,7 +56,7 @@ pytcl/core/array_utils.py,sha256=SsgEiAoRCWxAVKq1aa5-nPdOi-2AB6XNObu0IaGClUk,139
 pytcl/core/constants.py,sha256=cwkCjzCU7zG2ZsFcbqwslN632v7Lw50L85s-5q892mo,9988
 pytcl/core/exceptions.py,sha256=6ImMiwL86BdmTt-Rc8fXLXxKUGQ-PcQQyxIvKKzw-n0,24324
 pytcl/core/maturity.py,sha256=Sut19NfH1-6f3Qd2QSC6OAqvDcVHJDwf5-F_-oEAMJA,11596
-pytcl/core/optional_deps.py,sha256=Xe7BG18SWsmzBD3zGa440U_QWKkfATBKhUfLOxhXZuU,15799
+pytcl/core/optional_deps.py,sha256=a3UK_DM2s0XQE4Lwp0agq9L0qjupl_d8o4csCYbi440,16396
 pytcl/core/validation.py,sha256=4ay21cZVAil8udymwej7QnVQfNyjzi_5A8O1y-d-Lyw,23492
 pytcl/dynamic_estimation/__init__.py,sha256=zxmkZIXVfHPv5AHYpQV5nwsI0PA3m-Vw7W0gkJE7j98,5191
 pytcl/dynamic_estimation/gaussian_sum_filter.py,sha256=3Ks5-sGo3IF9p_dsIzk5u2zaXS2ZAkJFAg1mdxo8vj8,15343
@@ -90,6 +90,13 @@ pytcl/dynamic_models/process_noise/__init__.py,sha256=ZRYgV40qmBkPwU3yTbIMvxorr4
 pytcl/dynamic_models/process_noise/coordinated_turn.py,sha256=0PciDXtXHjgQdaYf7qpQqIZ7qoMV4uO_kE7wjpiBe64,6483
 pytcl/dynamic_models/process_noise/polynomial.py,sha256=w5ZW5Ouw6QpVtev_mnuCmZoj6_O6ovb2L_ENKDhHYIc,7742
 pytcl/dynamic_models/process_noise/singer.py,sha256=ozAdzH4s0wGlBaxajdyZvSnK8_CumgsUZDKeMW-TxDs,5735
+pytcl/gpu/__init__.py,sha256=B3t8UrMg7_1k79eeJMJqPLlb4dG8xHfttsaIDqCDk2g,4268
+pytcl/gpu/ekf.py,sha256=Lern6c0lP9LdfL4vHM1PWvXLHl1tniNZPXq7Mw81R5A,12138
+pytcl/gpu/kalman.py,sha256=8swMqLsnXjdl9-0vOg6wEqxtVHQRHcV4bXjHL8RwUmk,16417
+pytcl/gpu/matrix_utils.py,sha256=FKlcZKEbWSPHUgRjsFpcvN2LgcXZncMIWmOo8GAXp2Q,12394
+pytcl/gpu/particle_filter.py,sha256=uBK9ItCgGRfZ7WtWQIky-t3pl1oM1Fi1hZ6fmHTr4kc,16957
+pytcl/gpu/ukf.py,sha256=NzSWOKBBpyNFKiTwj9fpDIWmO9-1-vpmFXLdkXrxM1E,13070
+pytcl/gpu/utils.py,sha256=HAwC2cYh2UFr5hJBeabvdK3AxhJJNN9I2MFJel2FIjU,14790
 pytcl/gravity/__init__.py,sha256=5xNdQSrrkt7-1-JPOYqR38CqvNJ7qKlPyMK36DGm6-I,3693
 pytcl/gravity/clenshaw.py,sha256=O7yYfjHMigR1RQHR_gZe3UuMIe_WsGrXFSLzn7PLfIE,16985
 pytcl/gravity/egm.py,sha256=LAeNbaQ7eZakk0ciwLec0_8q41MrBFouVLpDsETis6o,19683
@@ -165,8 +172,8 @@ pytcl/trackers/mht.py,sha256=osEOXMaCeTt1eVn_E08dLRhEvBroVmf8b81zO5Zp1lU,20720
 pytcl/trackers/multi_target.py,sha256=RDITa0xnbgtVYAMj5XXp4lljo5lZ2zAAc02KZlOjxbQ,10526
 pytcl/trackers/single_target.py,sha256=Yy3FwaNTArMWcaod-0HVeiioNV4xLWxNDn_7ZPVqQYs,6562
 pytcl/transponders/__init__.py,sha256=5fL4u3lKCYgPLo5uFeuZbtRZkJPABntuKYGUvVgMMEI,41
-nrl_tracker-1.9.2.dist-info/LICENSE,sha256=rB5G4WppIIUzMOYr2N6uyYlNJ00hRJqE5tie6BMvYuE,1612
-nrl_tracker-1.9.2.dist-info/METADATA,sha256=HPSMMmbYsxCQpku97YqiIiaTut7fd0LOxLUBKCoMV-Y,12452
-nrl_tracker-1.9.2.dist-info/WHEEL,sha256=pL8R0wFFS65tNSRnaOVrsw9EOkOqxLrlUPenUYnJKNo,91
-nrl_tracker-1.9.2.dist-info/top_level.txt,sha256=17megxcrTPBWwPZTh6jTkwTKxX7No-ZqRpyvElnnO-s,6
-nrl_tracker-1.9.2.dist-info/RECORD,,
+nrl_tracker-1.10.0.dist-info/LICENSE,sha256=rB5G4WppIIUzMOYr2N6uyYlNJ00hRJqE5tie6BMvYuE,1612
+nrl_tracker-1.10.0.dist-info/METADATA,sha256=WUCa_SI-MIoBVkEmPW-VCR8B25wWtet0OSKMQpBMTAc,14038
+nrl_tracker-1.10.0.dist-info/WHEEL,sha256=pL8R0wFFS65tNSRnaOVrsw9EOkOqxLrlUPenUYnJKNo,91
+nrl_tracker-1.10.0.dist-info/top_level.txt,sha256=17megxcrTPBWwPZTh6jTkwTKxX7No-ZqRpyvElnnO-s,6
+nrl_tracker-1.10.0.dist-info/RECORD,,

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:** 1.9.2 (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__ = "1.9.2"
+__version__ = "1.10.0"
 __author__ = "Python Port Contributors"
 __original_author__ = "David F. Crouse, Naval Research Laboratory"
 

pytcl/core/optional_deps.py

@@ -69,6 +69,10 @@ PACKAGE_EXTRAS: dict[str, tuple[str, str]] = {
     "pywavelets": ("signal", "pywavelets"),
     # Terrain data
     "netCDF4": ("terrain", "netCDF4"),
+    # GPU acceleration
+    "cupy": ("gpu", "cupy-cuda12x"),
+    # Apple Silicon GPU acceleration
+    "mlx": ("gpu-apple", "mlx"),
 }
 
 # Friendly names for features provided by each package
@@ -82,6 +86,8 @@ PACKAGE_FEATURES: dict[str, str] = {
     "pywt": "wavelet transforms",
     "pywavelets": "wavelet transforms",
     "netCDF4": "NetCDF file reading",
+    "cupy": "GPU acceleration",
+    "mlx": "Apple Silicon GPU acceleration",
 }
 
 
@@ -374,6 +380,16 @@ class _AvailabilityFlags:
         """True if netCDF4 is available."""
         return is_available("netCDF4")
 
+    @property
+    def HAS_CUPY(self) -> bool:
+        """True if cupy is available."""
+        return is_available("cupy")
+
+    @property
+    def HAS_MLX(self) -> bool:
+        """True if mlx is available (Apple Silicon)."""
+        return is_available("mlx")
+
 
 # Create singleton instance
 _flags = _AvailabilityFlags()
@@ -387,6 +403,8 @@ HAS_ASTROPY = property(lambda self: _flags.HAS_ASTROPY)
 HAS_PYPROJ = property(lambda self: _flags.HAS_PYPROJ)
 HAS_CVXPY = property(lambda self: _flags.HAS_CVXPY)
 HAS_NETCDF4 = property(lambda self: _flags.HAS_NETCDF4)
+HAS_CUPY = property(lambda self: _flags.HAS_CUPY)
+HAS_MLX = property(lambda self: _flags.HAS_MLX)
 
 
 # =============================================================================
@@ -525,6 +543,8 @@ __all__ = [
     "HAS_PYPROJ",
     "HAS_CVXPY",
     "HAS_NETCDF4",
+    "HAS_CUPY",
+    "HAS_MLX",
     # Internal (for testing)
     "_clear_cache",
     "_flags",

pytcl/gpu/__init__.py

@@ -0,0 +1,153 @@
+"""
+GPU-accelerated algorithms for the Tracker Component Library.
+
+This module provides GPU-accelerated implementations of key tracking algorithms
+using CuPy (NVIDIA GPUs) or MLX (Apple Silicon). These implementations offer
+significant speedups (5-15x) for batch processing of multiple tracks or large
+particle sets.
+
+The module automatically selects the best available backend:
+- On Apple Silicon (M1/M2/M3): Uses MLX if installed
+- On systems with NVIDIA GPUs: Uses CuPy if installed
+- Falls back to CPU (numpy) if no GPU backend is available
+
+The GPU implementations mirror the CPU API but accept GPU arrays and return
+GPU arrays. Use the utility functions to seamlessly transfer data between
+CPU and GPU.
+
+Requirements
+------------
+For NVIDIA GPUs:
+- CUDA-capable GPU
+- CuPy >= 12.0
+
+For Apple Silicon:
+- macOS with Apple Silicon (M1, M2, M3, etc.)
+- MLX >= 0.5.0
+
+Installation
+------------
+For NVIDIA CUDA:
+    pip install pytcl[gpu]
+    # or directly:
+    pip install cupy-cuda12x  # For CUDA 12.x
+
+For Apple Silicon:
+    pip install pytcl[gpu-apple]
+    # or directly:
+    pip install mlx
+
+Examples
+--------
+Basic usage with automatic backend selection:
+
+>>> from pytcl.gpu import is_gpu_available, get_backend
+>>> if is_gpu_available():
+...     print(f"GPU available, using {get_backend()} backend")
+
+Check platform:
+
+>>> from pytcl.gpu import is_apple_silicon, is_mlx_available
+>>> if is_apple_silicon():
+...     print("Running on Apple Silicon")
+>>> if is_mlx_available():
+...     print("MLX acceleration available")
+
+Batch processing example:
+
+>>> from pytcl.gpu import batch_kf_predict, to_gpu, to_cpu
+>>> # Move data to GPU (automatically uses best backend)
+>>> x_gpu = to_gpu(x_batch)  # (n_tracks, state_dim)
+>>> P_gpu = to_gpu(P_batch)  # (n_tracks, state_dim, state_dim)
+>>> # Batch prediction
+>>> x_pred, P_pred = batch_kf_predict(x_gpu, P_gpu, F, Q)
+>>> # Move results back to CPU
+>>> x_pred_cpu = to_cpu(x_pred)
+
+See Also
+--------
+pytcl.dynamic_estimation.kalman : CPU Kalman filter implementations
+pytcl.dynamic_estimation.particle_filters : CPU particle filter implementations
+"""
+
+from pytcl.gpu.utils import (
+    get_array_module,
+    get_backend,
+    is_apple_silicon,
+    is_cupy_available,
+    is_gpu_available,
+    is_mlx_available,
+    to_cpu,
+    to_gpu,
+)
+
+__all__ = [
+    # Platform detection
+    "is_apple_silicon",
+    "is_mlx_available",
+    "is_cupy_available",
+    "get_backend",
+    # Availability check
+    "is_gpu_available",
+    # Utility functions
+    "get_array_module",
+    "to_gpu",
+    "to_cpu",
+]
+
+
+# Lazy imports for GPU implementations (only loaded if CuPy is available)
+def __getattr__(name: str):
+    """Lazy import GPU implementations."""
+    if name in ("CuPyKalmanFilter", "batch_kf_predict", "batch_kf_update"):
+        from pytcl.gpu.kalman import CuPyKalmanFilter, batch_kf_predict, batch_kf_update
+
+        globals()[name] = locals()[name]
+        return locals()[name]
+
+    if name in ("CuPyExtendedKalmanFilter", "batch_ekf_predict", "batch_ekf_update"):
+        from pytcl.gpu.ekf import (
+            CuPyExtendedKalmanFilter,
+            batch_ekf_predict,
+            batch_ekf_update,
+        )
+
+        globals()[name] = locals()[name]
+        return locals()[name]
+
+    if name in ("CuPyUnscentedKalmanFilter", "batch_ukf_predict", "batch_ukf_update"):
+        from pytcl.gpu.ukf import (
+            CuPyUnscentedKalmanFilter,
+            batch_ukf_predict,
+            batch_ukf_update,
+        )
+
+        globals()[name] = locals()[name]
+        return locals()[name]
+
+    if name in (
+        "CuPyParticleFilter",
+        "gpu_resample_systematic",
+        "gpu_resample_multinomial",
+    ):
+        from pytcl.gpu.particle_filter import (
+            CuPyParticleFilter,
+            gpu_resample_multinomial,
+            gpu_resample_systematic,
+        )
+
+        globals()[name] = locals()[name]
+        return locals()[name]
+
+    if name in ("gpu_cholesky", "gpu_qr", "gpu_solve", "MemoryPool"):
+        from pytcl.gpu.matrix_utils import (
+            MemoryPool,
+            gpu_cholesky,
+            gpu_qr,
+            gpu_solve,
+        )
+
+        globals()[name] = locals()[name]
+        return locals()[name]
+
+    raise AttributeError(f"module 'pytcl.gpu' has no attribute '{name}'")