Stonesoup

**Breaking changes:**

- Make measurement model optional in measurement-based initiators [\589](https://github.com/dstl/Stone-Soup/pull/589) ([ekhunter123](https://github.com/ekhunter123))
- The argument order has changed for instantiating a `MultiMeasurementInitiator`. The change has no impact if using keywords.
- Add nonlinear constant turn models. Update transition model class hierarchy [\506](https://github.com/dstl/Stone-Soup/pull/506) ([DaveKirkland](https://github.com/DaveKirkland))
- The linear model `ConstantTurn` has been renamed to `KnownTurnRate`, with a fixed turn rate as before. A new non-linear model called `ConstantTurn` has been added, which operates with a turn rate defined as part of the state space.
- Trackers are Iterables instead of Generators [\415](https://github.com/dstl/Stone-Soup/pull/415) ([gawebb-dstl](https://github.com/gawebb-dstl))
- Trackers are no longer generators, and do not restart the tracking process if you stop and restart iterating over them.
- The previously optionally used `tracks_gen()` method has been removed from trackers. If using this method, simply iterating over the tracker instead:
diff
- for time, tracks in tracker.tracks_gen():
+ for time, tracks in tracker:


**Implemented enhancements:**

- Add sensor suite type [\621](https://github.com/dstl/Stone-Soup/pull/621) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add Composite Tracking Modules [\618](https://github.com/dstl/Stone-Soup/pull/618) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add a RandomState parameter to the clutter model [\587](https://github.com/dstl/Stone-Soup/pull/587) ([ekhunter123](https://github.com/ekhunter123))
- Added 3D Plotting Functionality to plotter.py [\584](https://github.com/dstl/Stone-Soup/pull/584) ([PACarniglia](https://github.com/PACarniglia))
- Added CFAR and CCL feeders [\494](https://github.com/dstl/Stone-Soup/pull/494) ([sgjkang4](https://github.com/sgjkang4))

**Fixed bugs:**

- Prevent track from birth component w/o detection [\628](https://github.com/dstl/Stone-Soup/pull/628) ([ekhunter123](https://github.com/ekhunter123))
- Cast correction term to float in LCCUpdater [\627](https://github.com/dstl/Stone-Soup/pull/627) ([ekhunter123](https://github.com/ekhunter123))
- Fix time steps based deleter [\623](https://github.com/dstl/Stone-Soup/pull/623) ([hpritchett-dstl](https://github.com/hpritchett-dstl))
- Fix use of global random state in simulators [\622](https://github.com/dstl/Stone-Soup/pull/622) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix SIAP ID Correctness Division Error [\619](https://github.com/dstl/Stone-Soup/pull/619) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Enable Kalman Smoother to work with multi-hypothesis states [\586](https://github.com/dstl/Stone-Soup/pull/586) ([sdhiscocks](https://github.com/sdhiscocks))

**Documentation updates:**

- Fix video processing tutorial [\635](https://github.com/dstl/Stone-Soup/pull/635) ([sglvladi](https://github.com/sglvladi))
- Fix breadcrumbs in documentation [\632](https://github.com/dstl/Stone-Soup/pull/632) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix typo, and remove broken link \(DOI URL can still be used\) [\614](https://github.com/dstl/Stone-Soup/pull/614) ([kinow](https://github.com/kinow))
- Minor doc typo fixes on non linear measurement models [\606](https://github.com/dstl/Stone-Soup/pull/606) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix a bug in Tutorial 09 [\596](https://github.com/dstl/Stone-Soup/pull/596) ([orosoman-dstl](https://github.com/orosoman-dstl))
- Fix Tracking ADS-B Data Demo [\590](https://github.com/dstl/Stone-Soup/pull/590) ([hpritchett-dstl](https://github.com/hpritchett-dstl))
- Fix a minor mistake with generating clutter in tutorial 11 [\583](https://github.com/dstl/Stone-Soup/pull/583) ([orosoman-dstl](https://github.com/orosoman-dstl))
- Add diagrams to JPDA tutorial [\353](https://github.com/dstl/Stone-Soup/pull/353) ([orosoman-dstl](https://github.com/orosoman-dstl))

**Other changes:**

- Update CircleCI artifacts redirector [\626](https://github.com/dstl/Stone-Soup/pull/626) ([sdhiscocks](https://github.com/sdhiscocks))
- Include full Python version in cache key for CircleCI builds [\616](https://github.com/dstl/Stone-Soup/pull/616) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix linear measurement model tests [\600](https://github.com/dstl/Stone-Soup/pull/600) ([sdhiscocks](https://github.com/sdhiscocks))

**Breaking changes:**

- Return metrics in a dictionary [\570](https://github.com/dstl/Stone-Soup/pull/570) ([orosoman-dstl](https://github.com/orosoman-dstl))
- Metrics are no longer returned as a set. Instead, to retrieve a particular metric, you should pass the metric title as key to the returned metrics dictionary.
- If you need to iterate through metrics, use `.values()`.
- Drop Python 3.6 support [\569](https://github.com/dstl/Stone-Soup/pull/569) ([sdhiscocks](https://github.com/sdhiscocks))
- Recommend upgrading to Python 3.7 or greater

**Implemented enhancements:**

- PCRB Metric [\566](https://github.com/dstl/Stone-Soup/pull/566) ([sglvladi](https://github.com/sglvladi))
- Introduce resampler that checks if resampling required [\563](https://github.com/dstl/Stone-Soup/pull/563) ([orosoman-dstl](https://github.com/orosoman-dstl))
- Improve readability and limit size of repr output [\549](https://github.com/dstl/Stone-Soup/pull/549) ([orosoman-dstl](https://github.com/orosoman-dstl))
- Add constant jerk model simulation for platforms [\544](https://github.com/dstl/Stone-Soup/pull/544) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add method to copy prior state properties of a platform across to a new state [\543](https://github.com/dstl/Stone-Soup/pull/543) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add Clutter Model that can be used with radar Sensors [\535](https://github.com/dstl/Stone-Soup/pull/535) ([ekhunter123](https://github.com/ekhunter123))
- Create Orbital class for OrbitalState to inherit from [\522](https://github.com/dstl/Stone-Soup/pull/522) ([nperree-dstl](https://github.com/nperree-dstl))
- Add SIAP alternative generator [\505](https://github.com/dstl/Stone-Soup/pull/505) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add hidden Markov model implementation for classification [\504](https://github.com/dstl/Stone-Soup/pull/504) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Refactor YAML serialiser as ruamel.yaml plugin [\484](https://github.com/dstl/Stone-Soup/pull/484) ([sdhiscocks](https://github.com/sdhiscocks))

**Fixed bugs:**

- Fix probability hypothesis equality check [\573](https://github.com/dstl/Stone-Soup/pull/573) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add metadatas limit to StatesLengthLimiter [\541](https://github.com/dstl/Stone-Soup/pull/541) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Correct bug when dealing with duplicate tags [\498](https://github.com/dstl/Stone-Soup/pull/498) ([ekhunter123](https://github.com/ekhunter123))

**Documentation updates:**

- Fix typo in documentation for ESSResampler [\567](https://github.com/dstl/Stone-Soup/pull/567) ([orosoman-dstl](https://github.com/orosoman-dstl))
- Fix IDSIAP docstring bullet list error [\565](https://github.com/dstl/Stone-Soup/pull/565) ([oharrald-Dstl](https://github.com/oharrald-Dstl))

**Other changes:**

- Update year. [\574](https://github.com/dstl/Stone-Soup/pull/574) ([jswright-dstl](https://github.com/jswright-dstl))
- Add cache version environment variable to CircleCI config [\542](https://github.com/dstl/Stone-Soup/pull/542) ([sdhiscocks](https://github.com/sdhiscocks))
- Pass 1d-arrays to scipy.distance [\534](https://github.com/dstl/Stone-Soup/pull/534) ([sdhiscocks](https://github.com/sdhiscocks))
- Update pip in CircleCI build [\533](https://github.com/dstl/Stone-Soup/pull/533) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Python 3.10 to CircleCI builds [\532](https://github.com/dstl/Stone-Soup/pull/532) ([sdhiscocks](https://github.com/sdhiscocks))

**Implemented enhancements:**

- Add jacobian\(\) to Linear model and add kwarg handling to jacobian\(\). [\497](https://github.com/dstl/Stone-Soup/pull/497) ([DaveKirkland](https://github.com/DaveKirkland))
- Add a mean uncertainty metric [\496](https://github.com/dstl/Stone-Soup/pull/496) ([sdhiscocks](https://github.com/sdhiscocks))
- Added SingleImageFileReader [\492](https://github.com/dstl/Stone-Soup/pull/492) ([sgjkang4](https://github.com/sgjkang4))
- Vectorise Jacobian calculation [\491](https://github.com/dstl/Stone-Soup/pull/491) ([sdhiscocks](https://github.com/sdhiscocks))
- Information filter [\467](https://github.com/dstl/Stone-Soup/pull/467) ([jmbarr](https://github.com/jmbarr))

**Fixed bugs:**

- Remove unnecessary additional noise in radar fov check [\483](https://github.com/dstl/Stone-Soup/pull/483) ([hpritchett-dstl](https://github.com/hpritchett-dstl))
- Fix multi-transition platform loop [\482](https://github.com/dstl/Stone-Soup/pull/482) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- set dwell\_center.timestamp equal to incoming timestamp if dwell\_cente… [\475](https://github.com/dstl/Stone-Soup/pull/475) ([alexiad1](https://github.com/alexiad1))
- Fix plotter metric so it doesn't fail when there are no tracks [\464](https://github.com/dstl/Stone-Soup/pull/464) ([nperree-dstl](https://github.com/nperree-dstl))
- Fix deterministic use of random seed [\461](https://github.com/dstl/Stone-Soup/pull/461) ([joldf](https://github.com/joldf))
- Fix figure size/scale for metrics tables [\459](https://github.com/dstl/Stone-Soup/pull/459) ([sdhiscocks](https://github.com/sdhiscocks))
- CombinedNonlinearGaussianTransitionModel now inherits from NonLinearModel [\452](https://github.com/dstl/Stone-Soup/pull/452) ([idorrington-dstl](https://github.com/idorrington-dstl))
- Fixed an error in the angle calculations in smooth transition model maker [\449](https://github.com/dstl/Stone-Soup/pull/449) ([idorrington-dstl](https://github.com/idorrington-dstl))
- Handle OSError if libspatialindex fails to load for rtree dependency [\448](https://github.com/dstl/Stone-Soup/pull/448) ([sdhiscocks](https://github.com/sdhiscocks))

**Documentation Updates:**

- Update project logo [\501](https://github.com/dstl/Stone-Soup/pull/501) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix the GMPHD Tutorial to include the birth component [\489](https://github.com/dstl/Stone-Soup/pull/489) ([ekhunter123](https://github.com/ekhunter123))
- Add OpenSky demo [\488](https://github.com/dstl/Stone-Soup/pull/488) ([hpritchett-dstl](https://github.com/hpritchett-dstl))
- Ensures all tracks plotted in tutorial 9 [\466](https://github.com/dstl/Stone-Soup/pull/466) ([sflorence-dstl](https://github.com/sflorence-dstl))
- Minor correction to video processing demo [\463](https://github.com/dstl/Stone-Soup/pull/463) ([sglvladi](https://github.com/sglvladi))
- Add tutorial on the GMPHD filter in Stone Soup [\455](https://github.com/dstl/Stone-Soup/pull/455) ([ekhunter123](https://github.com/ekhunter123))
- Updating dependencies in README [\451](https://github.com/dstl/Stone-Soup/pull/451) ([idorrington-dstl](https://github.com/idorrington-dstl))
- Add note about using mixture tracker for \(J\)PDA in final tutorial [\450](https://github.com/dstl/Stone-Soup/pull/450) ([sdhiscocks](https://github.com/sdhiscocks))

**Breaking changes:**

- Refactor platforms and sensors to remove weakrefs [\427](https://github.com/dstl/Stone-Soup/pull/427) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- The way platforms and sensors are linked have changed. Properties like `rotation_offset` and `mounting_offset` are now part of the sensor, rather than being provided when adding the sensor to a platform.

**Implemented enhancements:**

- Multimap measures [\445](https://github.com/dstl/Stone-Soup/pull/445) ([idorrington-dstl](https://github.com/idorrington-dstl))
- User random seeds [\444](https://github.com/dstl/Stone-Soup/pull/444) ([idorrington-dstl](https://github.com/idorrington-dstl))
- Speed up track to truth associator by avoiding searching of all times [\431](https://github.com/dstl/Stone-Soup/pull/431) ([sdhiscocks](https://github.com/sdhiscocks))
- Plotter group measurements/clutter into single plot call [\430](https://github.com/dstl/Stone-Soup/pull/430) ([sdhiscocks](https://github.com/sdhiscocks))
- Alpha-Beta updater [\398](https://github.com/dstl/Stone-Soup/pull/398) ([jmbarr](https://github.com/jmbarr))
- Add tree data structures for gating [\145](https://github.com/dstl/Stone-Soup/pull/145) ([sdhiscocks](https://github.com/sdhiscocks))
- Create OpenSky Network REST API Reader [\120](https://github.com/dstl/Stone-Soup/pull/120) ([sdhiscocks](https://github.com/sdhiscocks))

**Fixed bugs:**

- Fix Weighted Gaussian Prediction to inherit from correct parent [\447](https://github.com/dstl/Stone-Soup/pull/447) ([sdhiscocks](https://github.com/sdhiscocks))
- Fixing timestamps for the video reader [\437](https://github.com/dstl/Stone-Soup/pull/437) ([idorrington-dstl](https://github.com/idorrington-dstl))
- Add mapping to Combined Measurement Model [\429](https://github.com/dstl/Stone-Soup/pull/429) ([sdhiscocks](https://github.com/sdhiscocks))

**Documentation updates:**

- Fix documentation build caused by type hints [\442](https://github.com/dstl/Stone-Soup/pull/442) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix missing thumbnails in sphinx gallery examples [\440](https://github.com/dstl/Stone-Soup/pull/440) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix UAV demonstration sensor parameters [\439](https://github.com/dstl/Stone-Soup/pull/439) ([sdhiscocks](https://github.com/sdhiscocks))
- Add DOI badge to README [\434](https://github.com/dstl/Stone-Soup/pull/434) ([sdhiscocks](https://github.com/sdhiscocks))

**Breaking changes:**

- Add option to delete posterior predictions from deleted tracks [\417](https://github.com/dstl/Stone-Soup/pull/417) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- This change may cause issues with optional arguments on deleters, requiring that keyword is included in initialisation arguments.
- Include timestamp with Initiator and allow predictions with multi measurement initiator [\406](https://github.com/dstl/Stone-Soup/pull/406) ([sdhiscocks](https://github.com/sdhiscocks))
- Any custom initiators or calls to existing initiators should be updated to include a timestamp argument.

**Implemented enhancements:**

- Add mapping to CovarianceBasedDeleter [\416](https://github.com/dstl/Stone-Soup/pull/416) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Modify AssociationSet types to have a set-like interface [\405](https://github.com/dstl/Stone-Soup/pull/405) ([oharrald-Dstl](https://github.com/oharrald-Dstl))

**Fixed bugs:**

- Fix gm\_reduce\_single. [\426](https://github.com/dstl/Stone-Soup/pull/426) ([DaveKirkland](https://github.com/DaveKirkland))
- Match colours of ellipses, and fix mappings with track uncertainty in Plotter [\422](https://github.com/dstl/Stone-Soup/pull/422) ([sdhiscocks](https://github.com/sdhiscocks))
- Ensure registered subclasses are in parent subclasses list [\407](https://github.com/dstl/Stone-Soup/pull/407) ([sdhiscocks](https://github.com/sdhiscocks))

**Documentation updates:**

- Add type annotations to base classes, and shorten type hints in documentation [\413](https://github.com/dstl/Stone-Soup/pull/413) ([sdhiscocks](https://github.com/sdhiscocks))
- Add type hints and update documentation on Models [\412](https://github.com/dstl/Stone-Soup/pull/412) ([sdhiscocks](https://github.com/sdhiscocks))
- Add deleter and initiator base class type hints and minor doc changes [\410](https://github.com/dstl/Stone-Soup/pull/410) ([sdhiscocks](https://github.com/sdhiscocks))
- Add DataAssociator and Hypothesiser type hints, and passthrough kwargs [\409](https://github.com/dstl/Stone-Soup/pull/409) ([sdhiscocks](https://github.com/sdhiscocks))
- Sensor and platform minor documentation changes [\408](https://github.com/dstl/Stone-Soup/pull/408) ([sdhiscocks](https://github.com/sdhiscocks))
- Add conda installation instructions and PyPI/Conda-Forge badges [\402](https://github.com/dstl/Stone-Soup/pull/402) ([sdhiscocks](https://github.com/sdhiscocks))
- Update copyright/license year. [\395](https://github.com/dstl/Stone-Soup/pull/395) ([jswright-dstl](https://github.com/jswright-dstl))

**Other changes:**

- Plotter with track labels [\394](https://github.com/dstl/Stone-Soup/pull/394) ([jmbarr](https://github.com/jmbarr))

---
**NOTE (for developers)**

Post this release, the `master` branch will be renamed `main`. Please [see these instructions](https://docs.github.com/en/github/administering-a-repository/renaming-a-branch#updating-a-local-clone-after-a-branch-name-changes) about renaming your local branch and updating the upstream branch name.

---

**Breaking changes:**

- Kalman smoother [\378](https://github.com/dstl/Stone-Soup/pull/378) ([jmbarr](https://github.com/jmbarr))
- The Smoother classes have been changed completly, to have similar structure to predictors/updaters. The existing Kalman based smoother `stonesoup.smoother.lineargaussian.Backward` has been replaced by `stonesoup.smoother.kalman.KalmanSmoother`, and two new Kalman based smoothers, `ExtendedKalmanSmoother` and `UnscentedKalmanSmoother`, have been added.
- Data Associator Class modifications [\368](https://github.com/dstl/Stone-Soup/pull/368) ([sdhiscocks](https://github.com/sdhiscocks))
- Renamed argument `time` to `timestamp` on `DataAssociator.associate()` methods.
- Vectorise particle filter [\365](https://github.com/dstl/Stone-Soup/pull/365) ([idorrington-dstl](https://github.com/idorrington-dstl))
- Models have changed to support vectorised calculations. Future models should support vectorised calculations. This can be as simple as iterating of the individual particles, and joining the end result, but this will have a performance penalty.
- The `ParticleState.particles` attribute is now a `Particles` instance. `Particles` is list like, so shouldn't break existing code expecting a list of `Particle` objects.
- AESA Radar and Beam Shape beam power method argument changes [\361](https://github.com/dstl/Stone-Soup/pull/361) ([sdhiscocks](https://github.com/sdhiscocks))
- `beam_width` is no longer a property of `BeamShape`, but an argument to `BeamShape.beam_power()` method.

**Implemented enhancements:**

- Fix plotter metric so it uses Stone Soup Plotter class [\382](https://github.com/dstl/Stone-Soup/pull/382) ([nperree-dstl](https://github.com/nperree-dstl))
- Add support for plugins [\375](https://github.com/dstl/Stone-Soup/pull/375) ([svidal-dstl](https://github.com/svidal-dstl))
- Adding link to TransitionModel in the Prediction [\374](https://github.com/dstl/Stone-Soup/pull/374) ([jmbarr](https://github.com/jmbarr))
- Add ID based associator [\366](https://github.com/dstl/Stone-Soup/pull/366) ([nperree-dstl](https://github.com/nperree-dstl))
- Orbitalstate [\278](https://github.com/dstl/Stone-Soup/pull/278) ([jmbarr](https://github.com/jmbarr))
- Add Gromov Particle Flow Updater [\132](https://github.com/dstl/Stone-Soup/pull/132) ([sdhiscocks](https://github.com/sdhiscocks))

**Fixed bugs:**

- Fix CartesianToBearingRange inverse\_function for 3D state space. [\393](https://github.com/dstl/Stone-Soup/pull/393) ([svidal-dstl](https://github.com/svidal-dstl))
- Fix Measures to work with tuple mapping type [\391](https://github.com/dstl/Stone-Soup/pull/391) ([sdhiscocks](https://github.com/sdhiscocks))
- Various test fixes for print statements, floating point errors and divide by zero warnings [\383](https://github.com/dstl/Stone-Soup/pull/383) ([sdhiscocks](https://github.com/sdhiscocks))

**Documentation updates:**

- Fix Particle Flow example due to metric name change [\385](https://github.com/dstl/Stone-Soup/pull/385) ([sdhiscocks](https://github.com/sdhiscocks))
- Change time-based SIAP titles [\384](https://github.com/dstl/Stone-Soup/pull/384) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- SIAP text [\381](https://github.com/dstl/Stone-Soup/pull/381) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Fix Edit on GitHub links on documentation. [\380](https://github.com/dstl/Stone-Soup/pull/380) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix animation control layout in Sphinx-Gallery examples [\373](https://github.com/dstl/Stone-Soup/pull/373) ([sdhiscocks](https://github.com/sdhiscocks))
- Minor edits for 01 Tutorial [\372](https://github.com/dstl/Stone-Soup/pull/372) ([bradh](https://github.com/bradh))
- Update Contributing documentation [\370](https://github.com/dstl/Stone-Soup/pull/370) ([sdhiscocks](https://github.com/sdhiscocks))

**Other changes:**

- Prevent StateMutableSequence from swallowing custom errors [\392](https://github.com/dstl/Stone-Soup/pull/392) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Handle warning raised on 2D plotter metric test [\390](https://github.com/dstl/Stone-Soup/pull/390) ([sdhiscocks](https://github.com/sdhiscocks))
- Increase tolerance on particle updater test [\389](https://github.com/dstl/Stone-Soup/pull/389) ([sdhiscocks](https://github.com/sdhiscocks))
- Update StateMutableSequence error handling [\386](https://github.com/dstl/Stone-Soup/pull/386) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Add GitHub related files for reviewers and actions [\376](https://github.com/dstl/Stone-Soup/pull/376) ([sdhiscocks](https://github.com/sdhiscocks))
- Move functions and orbital functions to sub-module [\367](https://github.com/dstl/Stone-Soup/pull/367) ([sdhiscocks](https://github.com/sdhiscocks))