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WIP: Hierarchical Tracker Components #1098

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WIP: Hierarchical Tracker Components #1098

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paulhorridge
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This PR is a Work In Progress.

Add various components to enable tracking of multiple targets using a hierarchy of fusion trackers.

A running example can be found here.

TODO:

sglvladi added 30 commits January 16, 2023 14:50
@sglvladi
Added SMCPHD implementation
935a7eb
@sglvladi
Add n_particles as optional argument to SystematicResampler
0b90c50
@sglvladi
Add SMCPHD example script
9ea0ce8
@sglvladi
Add metadata property to SingleHypothesis
9635556
@sglvladi
Added IPDA and JIPDAWithEHM2 classes
41d6184
@sglvladi
SMCPHD update + Added SMCPHDInitiator
8f78a39
@sglvladi
Added SMCPHD initiator example
1561a38
@sglvladi
Added actionable pan-tilt camera sensors
aac33f4
@sglvladi
Added UAV camera example
72aeb25
@sglvladi
Restructure custom module and tidy up defined actionable sensors
65821a6
@sglvladi
Ensure default action in also returned when iterating generator in Pa…
a195405 
…nTiltActionsGenerator
@sglvladi
Doc update for fov_angle in PanTiltUAVCamera
bb0e493
@sglvladi
Split pan and tilt into seperate actionables
25737b2
@sglvladi
Added SMCPHD_JIPDA tracker component
7a73825
@sglvladi
Added sensor management examples
cac2398
@sglvladi
Add position dependent probability of detection capability
dcfc30a
@sglvladi
Add missing __init__.py files
bbcd7fa
@sglvladi
Position dependent probability of detection fix
4ad2b74
@sglvladi
Fix wrong action class in AngleUAVActionsGenerator default_action() o…
4697fa5 
…verloads
@sglvladi
WIP: Correct implementation of calculating camera footprint
5c742ee
@sglvladi
Increase default resolution of AngleUAVActionsGenerator
a99de2a
@sglvladi
Added pyehm and vector3d to dependencies
5aaee57
@sglvladi
Use log-probability calculations in SMCPHDFilter
f5c0cf6
@sglvladi
Added camera actions example
a1111a2
@sglvladi
Added MoveableUAVCamera
02c7907
@sglvladi
Added Sensor Management example with MoveableUAVCamera
1527111
@sglvladi
Renamed minmax to limits and changed data type for MovableUAVCamera a…
76feb86 
…nd LocationActionGenerator
@sglvladi
Renamed radius property to fov_radius in MovableUAVCamera
cff691b
@sglvladi
Tidy up code for MovableUAVCamera
3fdc853
@sglvladi
Added RolloutUncertaintyRewardFunction
a506c50
sglvladi and others added 23 commits February 6, 2023 00:35
@sglvladi
Remove unnecessary predicts in RolloutPriorityRewardFunction2
0a893ec
@sglvladi
Sensor footprint is now a property of MovableUAVSensor, that gets aut…
18fcfa7 
…omatically re-evaluated upon action
@sglvladi
Ensure MovableUAVSensor footprint is calculated correctly
0423edb
@sglvladi
SensorManager bugfix
08c2db5
@sglvladi
Added rective_ist/risr-demo.py example
478552b
@sglvladi
Add FuseTracker components
b8d83ca
@sglvladi
ISMCPHD fix
88d1486
@sglvladi
Added example fusion scenario
2d06355
@sglvladi
Added MovableUAVCamera actions demo script
e3280b2
@sglvladi
Added MovableUAVCamera actions demo script
8584b0c
@sglvladi
ISMCPHDFilter fix for no detections
6436aa5
@sglvladi
Add hierarchical tracking example
0ace0b1
@sglvladi
Hierarchical tracking example update
019fb08
@sglvladi
Add fix for non-positive/non-semi-definite measurement prediction cov…
787ccac 
…ariance
@sglvladi
WIP: Comms & Processing
30e5396
@sglvladi
Fix issue with fuse tracker sometimes not updating when no scans exist
9576e70
@sglvladi
Fix/Patch LinAlgError in PDAHypothesiser
5b277ba
@sglvladi
Add ability to enable/disable birth weights weighting by birth densit…
5316708 
…y likelihood in (I)SMCPHD
@sglvladi
Added comms & processing example
3afa140
@sglvladi
Minor fixes to port from RISR
ebbb74c
@paulhorridge
PRH backup
5f7dcef
@paulhorridge
Updated example comments
6d71783
@paulhorridge
Removed unused files
12faf33
@paulhorridge paulhorridge requested a review from a team as a code owner November 5, 2024 13:08
@paulhorridge paulhorridge requested review from hpritchett-dstl and spike-dstl and removed request for a team November 5, 2024 13:08
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@hpritchett-dstl hpritchett-dstl Awaiting requested review from hpritchett-dstl hpritchett-dstl is a code owner automatically assigned from dstl/stone-soup-reviewers

@spike-dstl spike-dstl Awaiting requested review from spike-dstl spike-dstl is a code owner automatically assigned from dstl/stone-soup-reviewers

@sdhiscocks sdhiscocks Awaiting requested review from sdhiscocks

@orosoman-dstl orosoman-dstl Awaiting requested review from orosoman-dstl

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@paulhorridge @sglvladi