Add association hypothesis and gating helpers

docs/api-overview.md

@@ -92,6 +92,9 @@ track-management utilities.
 Common starting points include:
 
 - `KalmanFilter` for linear Gaussian Euclidean state estimation;
+- `AssociationHypothesis`, `NISGate`, `CostThresholdGate`, `TopKGate`,
+  and `linear_gaussian_association_hypotheses` for reusable association
+  diagnostics, gating, and cost-matrix conversion;
 - `OutOfSequenceKalmanUpdater`, `OutOfSequenceParticleUpdater`,
   `FixedLagBuffer`, and `MeasurementTimeBuffer` for fixed-lag delayed
   measurement handling;

src/pyrecest/filters/__init__.py

@@ -14,6 +14,24 @@
 from .abstract_nearest_neighbor_tracker import AbstractNearestNeighborTracker
 from .abstract_particle_filter import AbstractParticleFilter
 from .abstract_tracker_with_logging import AbstractTrackerWithLogging
+from .association_hypotheses import (
+    AssociationHypothesis,
+    CostThresholdGate,
+    NISGate,
+    ProbabilityThresholdGate,
+    TopKGate,
+    association_result_from_hypotheses,
+    build_linear_gaussian_hypothesis_associator,
+    filter_hypotheses,
+    gate_hypotheses,
+    hypotheses_to_cost_matrix,
+    hypotheses_to_log_likelihood_matrix,
+    hypotheses_to_probability_matrix,
+    hypothesis_cost,
+    infer_hypothesis_shape,
+    linear_gaussian_association_hypotheses,
+    missed_detection_hypothesis,
+)
 from .axial_kalman_filter import AxialKalmanFilter
 from .bingham_filter import BinghamFilter
 from .circular_particle_filter import CircularParticleFilter
@@ -136,12 +154,14 @@
     "AbstractNearestNeighborTracker",
     "AbstractParticleFilter",
     "AbstractTrackerWithLogging",
+    "AssociationHypothesis",
     "AssociationResult",
     "BinghamFilter",
     "BoxParticleFilter",
     "CircularFilterMixin",
     "CircularParticleFilter",
     "CircularUKF",
+    "CostThresholdGate",
     "DecorrelatedSCGPTracker",
     "DecorrelatedScGpTracker",
     "EKFSplineTracker",
@@ -200,23 +220,38 @@
     "MemEkfStarTracker",
     "MemEkfTracker",
     "MemSoekfTracker",
+    "NISGate",
     "OutOfSequenceKalmanUpdater",
     "OutOfSequenceParticleUpdater",
     "OutOfSequenceResult",
     "PartitionedSO3ProductParticleFilter",
     "PiecewiseConstantFilter",
+    "ProbabilityThresholdGate",
     "RandomMatrixTracker",
     "SCGPTracker",
     "ScGpTracker",
     "TimestampedItem",
+    "TopKGate",
+    "association_result_from_hypotheses",
+    "build_global_nearest_neighbor_associator",
+    "build_kalman_measurement_initiator",
+    "build_linear_gaussian_hypothesis_associator",
+    "build_linear_gaussian_predictor",
+    "build_linear_gaussian_updater",
+    "filter_hypotheses",
+    "gate_hypotheses",
+    "hypotheses_to_cost_matrix",
+    "hypotheses_to_log_likelihood_matrix",
+    "hypotheses_to_probability_matrix",
+    "hypothesis_cost",
+    "infer_hypothesis_shape",
+    "linear_gaussian_association_hypotheses",
+    "missed_detection_hypothesis",
     "quaternion_grid_transition_density",
     "Track",
     "TrackManager",
     "TrackManagerStepResult",
     "TrackStatus",
-    "build_global_nearest_neighbor_associator",
-    "build_kalman_measurement_initiator",
-    "build_linear_gaussian_predictor",
     "build_linear_gaussian_updater",
     "solve_global_nearest_neighbor",
     "student_t_covariance_scale",