Stonesoup

<!-- Release notes generated using configuration in .github/release.yml at main -->

What's Changed
Breaking changes
* Change how sensor parameters are passed to action generators by nperree-dstl in https://github.com/dstl/Stone-Soup/pull/901
* *ActionableProperty* has a `generator_kwargs_mapping` dictionary to map properties of the *ActionGenerator* to properties of the *Sensor*, allowing them to be set via the sensor. This means the previous method for setting resolutions has been modified to use this.
* Fix: for *RadarRotatingBearingRange*, set `resolution=resolution_value` instead of `resolutions=dict()`
* When creating a new sensor with an *ActionableProperty*, use the `generator_kwargs_mapping` to map sensor properties to *ActionGenerator* properties where required.

* Sensor management with actionable movables by akenyon in https://github.com/dstl/Stone-Soup/pull/943
* Sensor managers now take a set of sensors and a set of platforms so positional arguments order has changed
* Fix: set `reward_function` using kwargs (e.g. `reward_function=…`)
* Import locations have changed for the base classes *Action*, *ActionGenerator*, *Actionable* and *ActionableProperty*.
* Fix: import all from new location, `stonesoup.sensormanager.action`


Implemented enhancements
* Add metric MultiManager and MetricPlotter by rcgorman-dstl in https://github.com/dstl/Stone-Soup/pull/811
* Introduce ability to constrain particle states in ParticleUpdater and MCMCRegulariser by timothy-glover in https://github.com/dstl/Stone-Soup/pull/855
* Bool to return reward for BruteForce and Optimise sensor managers by asaunders-dstl in https://github.com/dstl/Stone-Soup/pull/851
* Resampling dependant regularisation in ParticleUpdater by timothy-glover in https://github.com/dstl/Stone-Soup/pull/869
* Minor Addition and Changes to MultiMeasurementInitiator by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/835
* Adding greedy sensor manager by akenyon in https://github.com/dstl/Stone-Soup/pull/874
* Add GaussianMixtureInitiator, ASDGaussianInitiator and EnsembleInitiator by csherman-dstl in https://github.com/dstl/Stone-Soup/pull/873
* Function to linearly interpolate state mutable sequences by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/872
* Update Animated Plotter Example by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/857
* Introduce Kullback-Leibler Divegence measure and reward function by timothy-glover in https://github.com/dstl/Stone-Soup/pull/868
* New Recursive updaters added by spike-dstl in https://github.com/dstl/Stone-Soup/pull/859
* Polar Plotting by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/796
* One to One Track Association by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/624
* Azimuth elevation range model by Carlson-J in https://github.com/dstl/Stone-Soup/pull/880
* Introduce grid based action generators and actionable movable classes by timothy-glover in https://github.com/dstl/Stone-Soup/pull/892
* Create IsotropicPlume model and gas sensor by timothy-glover in https://github.com/dstl/Stone-Soup/pull/850
* Adapted the square root components by jmbarr in https://github.com/dstl/Stone-Soup/pull/916
* Shorten sensor management tutorials' simulation length by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/918
* Adding setting title functionality to AnimationPlotter by jswright-dstl in https://github.com/dstl/Stone-Soup/pull/919
* Add convert measurement parameter to TwoDPlotter by jswright-dstl in https://github.com/dstl/Stone-Soup/pull/909
* Added the switching term to GOSPA. by Carlson-J in https://github.com/dstl/Stone-Soup/pull/898
* Add support for Python 3.12 by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/925
* Simplify (or at least make more standard) control models by jmbarr in https://github.com/dstl/Stone-Soup/pull/927
* Tidy plotter initialisation and remove rectangle zoom restriction. by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/934
* Dynamically Iterated EKF by spike-dstl in https://github.com/dstl/Stone-Soup/pull/891
* Add 3D plotting option to Plotterly by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/932
* Error-Controller BRUF and Variable-Step BRUF by spike-dstl in https://github.com/dstl/Stone-Soup/pull/914
Fixed bugs
* Corrected update equation in Kalman tutorial by jmbarr in https://github.com/dstl/Stone-Soup/pull/866
* Add conv measurements option to AnimatedPlotterly by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/856
* Fix track to track associations type by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/870
* Change return type and add track ID metadata to Track2GaussianDetectionFeeder by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/871
* Fix to RecursiveEnsembleUpdater by spike-dstl in https://github.com/dstl/Stone-Soup/pull/885
* Correct UKF kappa default to match documentation by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/905
* Modify Ensemble state generation and initiator test thresholds by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/902
* Change StatePrediction and StateUpdate by jswright-dstl in https://github.com/dstl/Stone-Soup/pull/906
* Fix bug in GridActionGenerator by nperree-dstl in https://github.com/dstl/Stone-Soup/pull/917
* Fix error handling for 3d in Plotterly and add tests by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/931
* Fix plugins for latest versions of Python by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/956
* Fix incorrect transition model being used in Kalman Smoothers by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/945
* Fix calculation of cross-covariance in unscented_transform sglvladi in https://github.com/dstl/Stone-Soup/pull/963
* Fixing bug which causes multiplication by Probability to return a Probability jmbarr in https://github.com/dstl/Stone-Soup/pull/912
Documentation updates
* Remove plot style in GMPHD tutorial to fix docs build by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/867
* Improve example documentation by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/840
* Example of Bearing-only tracking by A-acuto in https://github.com/dstl/Stone-Soup/pull/823
* Modify track fusion example to use tee and plot longest track by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/882
* Update copyright year by jswright-dstl in https://github.com/dstl/Stone-Soup/pull/920
* Make sensor management tutorials flake-8 compliant by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/926
* Make Metrics Example Flake8 Compliant by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/928
* Reinforcement Learning Sensor Manager Example by sgboakes in https://github.com/dstl/Stone-Soup/pull/886
* change reference to correct one by avcuenes in https://github.com/dstl/Stone-Soup/pull/938
* Correct deleter property documentation by jswright-dstl in https://github.com/dstl/Stone-Soup/pull/950
* Add an example showing performance differences between JPDA and EHM by A-acuto in https://github.com/dstl/Stone-Soup/pull/861
* Fix unused variable in Comparing Multiple Trackers example by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/959
Other changes
* change unequal timesteps in animated plotter from error to warning by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/904
* Move sphinx gallery line in tutorial 10 by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/924
* NumPy 2 compatibility by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/929
* Ignore Sphinx Gallery execution times file by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/947
* Avoid test collection failure with optional dependency astropy by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/955
* Add pyehm plugin as optional tests by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/957
* Added Version Requirement for Plotly by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/958
* Add GitHub release notes config by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/960

New Contributors
* asaunders-dstl made their first contribution in https://github.com/dstl/Stone-Soup/pull/851
* akenyon made their first contribution in https://github.com/dstl/Stone-Soup/pull/874
* csherman-dstl made their first contribution in https://github.com/dstl/Stone-Soup/pull/873
* Carlson-J made their first contribution in https://github.com/dstl/Stone-Soup/pull/880
* avcuenes made their first contribution in https://github.com/dstl/Stone-Soup/pull/938

**Full Changelog**: https://github.com/dstl/Stone-Soup/compare/v1.1...v1.2

**Implemented enhancements:**

* Bernoulli Particle Filter by timothy-glover in https://github.com/dstl/Stone-Soup/pull/815
* New resampling methods and example by spike-dstl in https://github.com/dstl/Stone-Soup/pull/817
* Add a SingleTargetMixtureTracker by A-acuto in https://github.com/dstl/Stone-Soup/pull/825
* Kafka readers and writers by sglvladi in https://github.com/dstl/Stone-Soup/pull/799
* One to one Assignment for Association by orosoman-dstl in https://github.com/dstl/Stone-Soup/pull/664
* Add Mapping to plot_sensors. Hide plotting elements in Plotterly by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/836

**Fixed bugs:**

* Handle case of no tracks with MFA by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/814
* Add LRU cache to Updater predict measurement methods by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/826
* Fix edge case with mod elevation for 2π by jmbarr in https://github.com/dstl/Stone-Soup/pull/828
* Fix recursion error when printing objects by sglvladi in https://github.com/dstl/Stone-Soup/pull/832
* Fix bug in BaseRepr.whitespace_remove() walrus expression by sglvladi in https://github.com/dstl/Stone-Soup/pull/839
* Fix ellipse plot by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/843
* Regulariser amendment and implementation in ParticleUpdater by timothy-glover in https://github.com/dstl/Stone-Soup/pull/830
* Fix non linear constant turn transition model by orosoman-dstl in https://github.com/dstl/Stone-Soup/pull/844

**Documentation updates:**

* Plot FOV on Sensor Management tutorials by nperree-dstl in https://github.com/dstl/Stone-Soup/pull/816
* Set minimum version for sphinx_rtd_theme by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/833
* Change plot in Resampler Tutorial to display correct CDF by spike-dstl in https://github.com/dstl/Stone-Soup/pull/834

**Other changes:**

* Fix issue with failing YAML serialisation tests by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/810

**Breaking changes:**

- Drop Python 3.7 support, and remove references to beta [\808](https://github.com/dstl/Stone-Soup/pull/808) ([sdhiscocks](https://github.com/sdhiscocks))
- New minimum Python version 3.8

**Implemented enhancements:**

- Plotting Improvements [\795](https://github.com/dstl/Stone-Soup/pull/795) ([gawebb-dstl](https://github.com/gawebb-dstl))
- Add a Schmidt-Kalman version of the Kalman Updater [\794](https://github.com/dstl/Stone-Soup/pull/794) ([jmbarr](https://github.com/jmbarr))
- Add log weight property to Particle State [\791](https://github.com/dstl/Stone-Soup/pull/791) ([sdhiscocks](https://github.com/sdhiscocks))
- Add animated variation of plotterly [\789](https://github.com/dstl/Stone-Soup/pull/789) ([mharris-dstl](https://github.com/mharris-dstl))
- Modify SystematicResampler to enable down/upsampling [\786](https://github.com/dstl/Stone-Soup/pull/786) ([timothy-glover](https://github.com/timothy-glover))
- Create regulariser object and MCMC particle regulariser [\785](https://github.com/dstl/Stone-Soup/pull/785) ([timothy-glover](https://github.com/timothy-glover))
- Created RadarBearing and RadarRotatingBearing Sensors [\778](https://github.com/dstl/Stone-Soup/pull/778) ([timothy-glover](https://github.com/timothy-glover))
- add k-d tree tutorial and update tree sub-module [\771](https://github.com/dstl/Stone-Soup/pull/771) ([rcgorman-dstl](https://github.com/rcgorman-dstl))
- Add track stitching class and example. [\764](https://github.com/dstl/Stone-Soup/pull/764) ([spike-dstl](https://github.com/spike-dstl))
- Added an example within the documentation for custom readers supporting pandas DataFrames. [\707](https://github.com/dstl/Stone-Soup/pull/707) ([BenjaminFraser](https://github.com/BenjaminFraser))

**Fixed bugs:**

- Enable Forward Declaration of Type Hints for Properties [\806](https://github.com/dstl/Stone-Soup/pull/806) ([orosoman-dstl](https://github.com/orosoman-dstl))
- Fix np.mean for StateVectors [\788](https://github.com/dstl/Stone-Soup/pull/788) ([sdhiscocks](https://github.com/sdhiscocks))
- Add is\_clutter\_detectable method to sensors [\787](https://github.com/dstl/Stone-Soup/pull/787) ([jswright-dstl](https://github.com/jswright-dstl))
- Cast noise\_covar value to a CovarianceMatrix when initialising a MeasurementModel [\775](https://github.com/dstl/Stone-Soup/pull/775) ([gawebb-dstl](https://github.com/gawebb-dstl))

**Documentation updates:**

- Fix issue with kD-tree example not building [\807](https://github.com/dstl/Stone-Soup/pull/807) ([sdhiscocks](https://github.com/sdhiscocks))
- Change track stitching example initiator [\804](https://github.com/dstl/Stone-Soup/pull/804) ([sdhiscocks](https://github.com/sdhiscocks))
- Add multi\_tracker\_example [\790](https://github.com/dstl/Stone-Soup/pull/790) ([mharris-dstl](https://github.com/mharris-dstl))

**Other changes:**

- Create sampler module and gaussian mixture sampling function [\793](https://github.com/dstl/Stone-Soup/pull/793) ([timothy-glover](https://github.com/timothy-glover))
- Use temporary file for FITS Reader tests [\777](https://github.com/dstl/Stone-Soup/pull/777) ([sdhiscocks](https://github.com/sdhiscocks))
- Implement multi-frame assignment algorithm [\568](https://github.com/dstl/Stone-Soup/pull/568) ([joldf](https://github.com/joldf))

**Breaking changes:**

- Rotation matrix fix [\762](https://github.com/dstl/Stone-Soup/pull/762) ([edwheelhouse-dstl](https://github.com/edwheelhouse-dstl))
- This may impact previous parameters or results as rotation matrix was defined incorrectly.

**Implemented enhancements:**

- Implement analytic Jacobian for CartesianToElevationBearingRangeRate. [\773](https://github.com/dstl/Stone-Soup/pull/773) ([mattbrown11](https://github.com/mattbrown11))
- Average uncertainty reward [\768](https://github.com/dstl/Stone-Soup/pull/768) ([mharris-dstl](https://github.com/mharris-dstl))
- Make Orbital classes and functions compatible with State Vectors [\752](https://github.com/dstl/Stone-Soup/pull/752) ([jmbarr](https://github.com/jmbarr))
- TimeBasedPlotter default timestamps and Notebook animation docs [\751](https://github.com/dstl/Stone-Soup/pull/751) ([sdhiscocks](https://github.com/sdhiscocks))
- Add logpdf method to models, and implement in particle filter [\744](https://github.com/dstl/Stone-Soup/pull/744) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Accumulated State Densities Filter [\734](https://github.com/dstl/Stone-Soup/pull/734) ([jogehl](https://github.com/jogehl))
- Add Multi-model and Rao-Blackwellised versions of particle filter [\719](https://github.com/dstl/Stone-Soup/pull/719) ([Isaac-JenkinsRA](https://github.com/Isaac-JenkinsRA))

**Fixed bugs:**

- Do not draw line between not\_update states. [\769](https://github.com/dstl/Stone-Soup/pull/769) ([mattbrown11](https://github.com/mattbrown11))
- Fix Angle.\_\_abs\_\_ such that it always returns a positive value [\763](https://github.com/dstl/Stone-Soup/pull/763) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Ensure ranges are floats in optimise sensor manager [\759](https://github.com/dstl/Stone-Soup/pull/759) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix covar for ConstantNthDerivative model [\758](https://github.com/dstl/Stone-Soup/pull/758) ([KaidosUncle](https://github.com/KaidosUncle))
- Removing redundant calculation [\756](https://github.com/dstl/Stone-Soup/pull/756) ([mharris-dstl](https://github.com/mharris-dstl))
- Add if else check on state\_vector in \_new\_target function [\755](https://github.com/dstl/Stone-Soup/pull/755) ([mharris-dstl](https://github.com/mharris-dstl))
- Enable pickling of Mahalanobis measure [\750](https://github.com/dstl/Stone-Soup/pull/750) ([sdhiscocks](https://github.com/sdhiscocks))
- Modified dotproduct to work with StateVectors [\743](https://github.com/dstl/Stone-Soup/pull/743) ([jmbarr](https://github.com/jmbarr))
- Fixed TypeError being thrown on certain Gaussian states in the Plotter.plot\_tracks function [\738](https://github.com/dstl/Stone-Soup/pull/738) ([gawebb-dstl](https://github.com/gawebb-dstl))

**Documentation updates:**

- Add more documentation for GaussianMixtureReducer. [\770](https://github.com/dstl/Stone-Soup/pull/770) ([mattbrown11](https://github.com/mattbrown11))
- Update copyright year to 2023 [\761](https://github.com/dstl/Stone-Soup/pull/761) ([spike-dstl](https://github.com/spike-dstl))
- Simple update of SIAP metric reference in Metrics example. [\753](https://github.com/dstl/Stone-Soup/pull/753) ([jmbarr](https://github.com/jmbarr))
- Add ESS Resampler to particle filter tutorial [\747](https://github.com/dstl/Stone-Soup/pull/747) ([spike-dstl](https://github.com/spike-dstl))
- Correct acronym for \(G\)OSPA in documentation [\741](https://github.com/dstl/Stone-Soup/pull/741) ([jswright-dstl](https://github.com/jswright-dstl))
- Maintain order of truths in tutorials for reproducibility [\737](https://github.com/dstl/Stone-Soup/pull/737) ([sdhiscocks](https://github.com/sdhiscocks))
- Fixed typo in sensor management tutorial [\736](https://github.com/dstl/Stone-Soup/pull/736) ([sgboakes](https://github.com/sgboakes))
- State time ordered plotter [\379](https://github.com/dstl/Stone-Soup/pull/379) ([gawebb-dstl](https://github.com/gawebb-dstl))

**Other changes:**

- Fix test comparing platform angles close to ±π [\766](https://github.com/dstl/Stone-Soup/pull/766) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Python 3.11 to CI builds [\745](https://github.com/dstl/Stone-Soup/pull/745) ([sdhiscocks](https://github.com/sdhiscocks))

**Implemented enhancements:**

- Remove repeated code in sensor [\732](https://github.com/dstl/Stone-Soup/pull/732) ([gawebb-dstl](https://github.com/gawebb-dstl))
- Implement generic readers for HDF5 [\731](https://github.com/dstl/Stone-Soup/pull/731) ([cpbrophy](https://github.com/cpbrophy))
- Add clutter model usage in RadarRotatingBearingRange [\723](https://github.com/dstl/Stone-Soup/pull/723) ([jswright-dstl](https://github.com/jswright-dstl))
- Add 2d density plot to Plotter [\458](https://github.com/dstl/Stone-Soup/pull/458) ([gawebb-dstl](https://github.com/gawebb-dstl))

**Fixed bugs:**

- Fix bug with pre-fetching noise in cases of only a single target [\724](https://github.com/dstl/Stone-Soup/pull/724) ([sdhiscocks](https://github.com/sdhiscocks))
- Add instance check for reward function [\722](https://github.com/dstl/Stone-Soup/pull/722) ([jswright-dstl](https://github.com/jswright-dstl))
- Fix plotting error when a track only has a single state [\721](https://github.com/dstl/Stone-Soup/pull/721) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix mapping in TPR tree causing error when mapping is tuple [\720](https://github.com/dstl/Stone-Soup/pull/720) ([sdhiscocks](https://github.com/sdhiscocks))

**Documentation updates:**

- Disable documentation table of content entries for objects [\735](https://github.com/dstl/Stone-Soup/pull/735) ([sdhiscocks](https://github.com/sdhiscocks))
- Update maintainer email address [\730](https://github.com/dstl/Stone-Soup/pull/730) ([sdhiscocks](https://github.com/sdhiscocks))
- Actionable sensor updates [\726](https://github.com/dstl/Stone-Soup/pull/726) ([sglvladi](https://github.com/sglvladi))

**Other changes:**

- Adding tests for the copying of tracks [\725](https://github.com/dstl/Stone-Soup/pull/725) ([gawebb-dstl](https://github.com/gawebb-dstl))

**Breaking changes:**

- Standardise clearable cached properties on Stone Soup Base/Property [\711](https://github.com/dstl/Stone-Soup/pull/711) ([sdhiscocks](https://github.com/sdhiscocks))
- If code directly modifies mutable objects on types or models, including values returned from certain attributes, this will cause an issue with cached values. This use is uncommon (not at all present in main code base) so unlikely to affect your code.
- Add caching of mean and covar on ParticleState [\686](https://github.com/dstl/Stone-Soup/pull/686) ([sdhiscocks](https://github.com/sdhiscocks))
- Same as above.
- State vectors iterator [\677](https://github.com/dstl/Stone-Soup/pull/677) ([jmbarr](https://github.com/jmbarr))
- When iterating over `StateVectors` class, `StateVector` objects are now yielded. This is similar to iterating over the transpose of `StateVectors` previously.
- Add Nonparametric PDA and gate out non valid measurements [\636](https://github.com/dstl/Stone-Soup/pull/636) ([sdhiscocks](https://github.com/sdhiscocks))
- By default, now only hypotheses within the validation gate are returned. The old behaviour can be restored by adding `include_all=True` when initiating the PDA hypothesiser.
- Add options to track to track association algorithm [\634](https://github.com/dstl/Stone-Soup/pull/634) ([orosoman-dstl](https://github.com/orosoman-dstl))
- The `TrackToTrack` associator has been renamed to `TrackToTrackCounting`. This is to accommodate having multiple track to track associators, and make clear that this is using the _counting technique_ for association. This component now also has some additional parameters added.
- Modify ParticleState so it has StateVectors and remove unnecessary Particles class [\581](https://github.com/dstl/Stone-Soup/pull/581) ([nperree-dstl](https://github.com/nperree-dstl))
- The `ParticleState` is now initialised with `StateVectors` and an array for `weight`, rather than from the intermediate step of have a `Particles` object. The `particles` attribute now returns a list of `Particle` objects. A list of particles can also still be used by passing the `state_vector` as `None`, and adding `particle_list=particles`.
- Add Sensor Management [\503](https://github.com/dstl/Stone-Soup/pull/503) ([nperree-dstl](https://github.com/nperree-dstl))
- Sensors now have their own timestamp, and such on rotating radar sensors, the dwell centre (renamed from dwell center) is now a `StateVector` (previously a `State`) as time stamp is no longer required.

**Implemented enhancements:**

- Pre-fetch noise values for sensor measure method [\712](https://github.com/dstl/Stone-Soup/pull/712) ([sdhiscocks](https://github.com/sdhiscocks))
- Modify assign2D to exploit NumPy indexing [\709](https://github.com/dstl/Stone-Soup/pull/709) ([sdhiscocks](https://github.com/sdhiscocks))
- Add the Sliding Innovation Filter [\706](https://github.com/dstl/Stone-Soup/pull/706) ([sdhiscocks](https://github.com/sdhiscocks))
- Update marker styles for tracks in plotters [\705](https://github.com/dstl/Stone-Soup/pull/705) ([sdhiscocks](https://github.com/sdhiscocks))
- Add argument for number of points on ellipse polygon with plotly plotter [\703](https://github.com/dstl/Stone-Soup/pull/703) ([sdhiscocks](https://github.com/sdhiscocks))
- Add new plotter based on plotly [\699](https://github.com/dstl/Stone-Soup/pull/699) ([sdhiscocks](https://github.com/sdhiscocks))
- Modify uncertainty reward so sensors measure all tracks together [\691](https://github.com/dstl/Stone-Soup/pull/691) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Squared Mahalanobis distance and cache covariance matrix inversions [\684](https://github.com/dstl/Stone-Soup/pull/684) ([sdhiscocks](https://github.com/sdhiscocks))
- Add ChernoffUpdater class and track feeder [\681](https://github.com/dstl/Stone-Soup/pull/681) ([ekhunter123](https://github.com/ekhunter123))
- Enable use of detections' measurement model in kDTree [\679](https://github.com/dstl/Stone-Soup/pull/679) ([sdhiscocks](https://github.com/sdhiscocks))
- Add optional kDTree to Gaussian Mixture Reducer merge step [\678](https://github.com/dstl/Stone-Soup/pull/678) ([sdhiscocks](https://github.com/sdhiscocks))
- Enable use of kDTree with Gaussian Mixture Hypothesiser [\676](https://github.com/dstl/Stone-Soup/pull/676) ([sdhiscocks](https://github.com/sdhiscocks))
- Ensemble Square Root Updater [\669](https://github.com/dstl/Stone-Soup/pull/669) ([0sm1um](https://github.com/0sm1um))
- Add additional functionality into Plotter class. [\661](https://github.com/dstl/Stone-Soup/pull/661) ([jswright-dstl](https://github.com/jswright-dstl))
- Fix ActionGenerator so resolution of actions available is not hard coded [\657](https://github.com/dstl/Stone-Soup/pull/657) ([nperree-dstl](https://github.com/nperree-dstl))
- Add parameter to limit number of components in GaussianMixtureReducer [\649](https://github.com/dstl/Stone-Soup/pull/649) ([ekhunter123](https://github.com/ekhunter123))
- Add max range to simple Radars [\646](https://github.com/dstl/Stone-Soup/pull/646) ([hpritchett-dstl](https://github.com/hpritchett-dstl))
- Modify EnsembleState to use StateVectors [\644](https://github.com/dstl/Stone-Soup/pull/644) ([sdhiscocks](https://github.com/sdhiscocks))
- Add option to specify number of targets in MultiTargetGroundTruthSimulator [\637](https://github.com/dstl/Stone-Soup/pull/637) ([ekhunter123](https://github.com/ekhunter123))
- Ensemble Kalman Filter Algorithm and Data Type [\625](https://github.com/dstl/Stone-Soup/pull/625) ([0sm1um](https://github.com/0sm1um))

**Fixed bugs:**

- Improve logic of readonly property checking to avoid double setting [\714](https://github.com/dstl/Stone-Soup/pull/714) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Reduce redundant calls to mod\_angle method in Angle type [\710](https://github.com/dstl/Stone-Soup/pull/710) ([sdhiscocks](https://github.com/sdhiscocks))
- Plotter minor fix [\702](https://github.com/dstl/Stone-Soup/pull/702) ([orosoman-dstl](https://github.com/orosoman-dstl))
- Fix averaging with StateVectors [\700](https://github.com/dstl/Stone-Soup/pull/700) ([sdhiscocks](https://github.com/sdhiscocks))
- Enable proper shallow copying of state mutable sequences [\696](https://github.com/dstl/Stone-Soup/pull/696) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix OptimizeBruteSensorManager [\694](https://github.com/dstl/Stone-Soup/pull/694) ([nperree-dstl](https://github.com/nperree-dstl))
- Changed ruamel version requirement to 0.16.5 [\693](https://github.com/dstl/Stone-Soup/pull/693) ([gawebb-dstl](https://github.com/gawebb-dstl))
- Remove `hasattr` in Measures to avoid calling `mean` twice [\680](https://github.com/dstl/Stone-Soup/pull/680) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix Plotter raising error when no tracks available to plot [\675](https://github.com/dstl/Stone-Soup/pull/675) ([sdhiscocks](https://github.com/sdhiscocks))
- Switch order of track and truth in SIAP metrics measure [\671](https://github.com/dstl/Stone-Soup/pull/671) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix tree data associators to work with particle states [\662](https://github.com/dstl/Stone-Soup/pull/662) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix incorrect arguments in particle predictor [\660](https://github.com/dstl/Stone-Soup/pull/660) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix typo in MultiTargetGroundTruthSimulator [\658](https://github.com/dstl/Stone-Soup/pull/658) ([ekhunter123](https://github.com/ekhunter123))
- Fix bugs when dealing with Gaussian mixtures [\648](https://github.com/dstl/Stone-Soup/pull/648) ([ekhunter123](https://github.com/ekhunter123))

**Documentation updates:**

- Move additional filter tutorials to subsection and fix binder post build script [\704](https://github.com/dstl/Stone-Soup/pull/704) ([sdhiscocks](https://github.com/sdhiscocks))
- Tutorial 3 graph legend fix [\701](https://github.com/dstl/Stone-Soup/pull/701) ([nperree-dstl](https://github.com/nperree-dstl))
- Update Metrics.py [\698](https://github.com/dstl/Stone-Soup/pull/698) ([jswright-dstl](https://github.com/jswright-dstl))
- Update install instructions to make compatible with zsh [\697](https://github.com/dstl/Stone-Soup/pull/697) ([DomonkosCs](https://github.com/DomonkosCs))
- Fix layout of documentation galleries [\692](https://github.com/dstl/Stone-Soup/pull/692) ([sdhiscocks](https://github.com/sdhiscocks))
- Reset NumPy random state when running Sphinx-Gallery examples [\685](https://github.com/dstl/Stone-Soup/pull/685) ([sdhiscocks](https://github.com/sdhiscocks))
- Update references and documentation of Updater classes [\683](https://github.com/dstl/Stone-Soup/pull/683) ([ekhunter123](https://github.com/ekhunter123))
- Fix plotting of track state in moving platform example [\672](https://github.com/dstl/Stone-Soup/pull/672) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Image Readers to documentation [\670](https://github.com/dstl/Stone-Soup/pull/670) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Information Filter Tutorial [\667](https://github.com/dstl/Stone-Soup/pull/667) ([jwragg-dstl](https://github.com/jwragg-dstl))
- Add example of track-to-track fusion [\666](https://github.com/dstl/Stone-Soup/pull/666) ([ekhunter123](https://github.com/ekhunter123))
- Add optimized sensor management tutorial [\665](https://github.com/dstl/Stone-Soup/pull/665) ([nperree-dstl](https://github.com/nperree-dstl))
- Use latest Python version on read the docs [\663](https://github.com/dstl/Stone-Soup/pull/663) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Sensor Management Tutorials [\659](https://github.com/dstl/Stone-Soup/pull/659) ([nperree-dstl](https://github.com/nperree-dstl))
- Correct spelling mistakes, typos and links. [\654](https://github.com/dstl/Stone-Soup/pull/654) ([jswright-dstl](https://github.com/jswright-dstl))
- Update final plot of tutorial 10 to use Plotter class. [\653](https://github.com/dstl/Stone-Soup/pull/653) ([jswright-dstl](https://github.com/jswright-dstl))
- ADS-B Tracking Demo Fixes [\650](https://github.com/dstl/Stone-Soup/pull/650) ([hpritchett-dstl](https://github.com/hpritchett-dstl))
- Move contract reference from LICENSE file to documentation [\643](https://github.com/dstl/Stone-Soup/pull/643) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix plotting for Multi Sensor Moving Platform Simulator [\640](https://github.com/dstl/Stone-Soup/pull/640) ([sdhiscocks](https://github.com/sdhiscocks))
- Create MTT 3D Platform example [\638](https://github.com/dstl/Stone-Soup/pull/638) ([PACarniglia](https://github.com/PACarniglia))

**Other changes:**
- Change 2d assignment implementation to SciPy version [\717](https://github.com/dstl/Stone-Soup/pull/713) ([sdhiscocks](https://github.com/sdhiscocks))
- Directly set arguments when instantiating a class [\713](https://github.com/dstl/Stone-Soup/pull/713) ([sdhiscocks](https://github.com/sdhiscocks))
- Migrate from setup.py to pyproject.toml based build [\708](https://github.com/dstl/Stone-Soup/pull/708) ([sdhiscocks](https://github.com/sdhiscocks))
- Drop \ -\*- coding: utf-8 -\*-and \ coding: utf-8 from files [\687](https://github.com/dstl/Stone-Soup/pull/687) ([jonasdlindner](https://github.com/jonasdlindner))
- test\_ess\_inequality fails sometimes [\674](https://github.com/dstl/Stone-Soup/pull/674) ([jmbarr](https://github.com/jmbarr))