API Reference
This section provides detailed API documentation for all modules.
Core Modules
- Core Module
PhysicalConstantsTCLErrorValidationErrorDimensionErrorParameterErrorRangeErrorComputationErrorConvergenceErrorNumericalErrorSingularMatrixErrorStateErrorUninitializedErrorEmptyContainerErrorConfigurationErrorMethodErrorDependencyErrorDataErrorFormatErrorParseErrorvalidate_array()validate_inputs()validate_same_shape()check_compatible_shapes()ArraySpecScalarSpecensure_2d()ensure_column_vector()ensure_row_vector()ensure_square_matrix()ensure_symmetric()ensure_positive_definite()wrap_to_pi()wrap_to_2pi()wrap_to_range()column_vector()row_vector()is_available()import_optional()requires()check_dependencies()LazyModuleget_data_dir()ensure_data_dir()MaturityLevelget_maturity()get_modules_by_maturity()get_maturity_summary()is_stable()is_production_ready()- Constants
- Array Utilities
- Validation
- Mathematical Functions
chol_semi_def()tria()tria_sqrt()pinv_truncated()matrix_sqrt()null_space()range_space()block_diag()kron()vec()unvec()gamma()gammaln()beta()betaln()erf()erfc()erfinv()besselj()bessely()besseli()besselk()GaussianMultivariateGaussianUniformChiSquarednees()nis()weighted_mean()weighted_cov()mad()gauss_legendre()gauss_hermite()quad()spherical_cubature()unscented_transform_points()interp1d()linear_interp()cubic_spline()interp2d()rbf_interpolate()factorial()n_choose_k()permutations()combinations()permutation_rank()permutation_unrank()point_in_polygon()convex_hull()polygon_area()line_intersection()bounding_box()butter_design()cfar_ca()matched_filter()fft()ifft()stft()spectrogram()power_spectrum()cwt()- Basic Matrix Operations
- Special Functions
- Statistics
- Interpolation
- Numerical Integration
- Geometry
- Combinatorics
- Coordinate Systems
cart2sphere()sphere2cart()cart2pol()pol2cart()cart2cyl()cyl2cart()ruv2cart()cart2ruv()geodetic2ecef()ecef2geodetic()geodetic2enu()ecef2enu()enu2ecef()ecef2ned()ned2ecef()enu2ned()ned2enu()geocentric_radius()prime_vertical_radius()meridional_radius()rotx()roty()rotz()euler2rotmat()rotmat2euler()axisangle2rotmat()rotmat2axisangle()quat2rotmat()rotmat2quat()euler2quat()quat2euler()quat_multiply()quat_conjugate()quat_inverse()quat_rotate()slerp()rodrigues2rotmat()rotmat2rodrigues()dcm_rate()is_rotation_matrix()mercator()mercator_inverse()transverse_mercator()transverse_mercator_inverse()utm_zone()utm_central_meridian()geodetic2utm()utm2geodetic()stereographic()stereographic_inverse()polar_stereographic()lambert_conformal_conic()lambert_conformal_conic_inverse()azimuthal_equidistant()azimuthal_equidistant_inverse()spherical_jacobian()spherical_jacobian_inv()polar_jacobian()polar_jacobian_inv()ruv_jacobian()enu_jacobian()ned_jacobian()geodetic_jacobian()cross_covariance_transform()numerical_jacobian()- Conversions
- Rotations
- Jacobians
- Dynamic Models
f_poly_kal()f_constant_velocity()f_constant_acceleration()f_discrete_white_noise_accel()f_piecewise_white_noise_jerk()f_coord_turn_2d()f_coord_turn_3d()f_coord_turn_polar()f_singer()f_singer_2d()f_singer_3d()q_poly_kal()q_discrete_white_noise()q_constant_velocity()q_constant_acceleration()q_continuous_white_noise()q_singer()q_singer_2d()q_singer_3d()q_coord_turn_2d()q_coord_turn_3d()q_coord_turn_polar()drift_constant_velocity()drift_constant_acceleration()drift_singer()drift_coordinated_turn_2d()diffusion_constant_velocity()diffusion_constant_acceleration()diffusion_singer()continuous_to_discrete()discretize_lti()state_jacobian_cv()state_jacobian_ca()state_jacobian_singer()- Discrete-Time Models
- Process Noise
- Continuous-Time Dynamics
- Dynamic Estimation
SmoothedStateRTSResultFixedLagResultrts_smoother()fixed_lag_smoother()fixed_interval_smoother()two_filter_smoother()rts_smoother_single_step()InformationStateInformationFilterResultSRIFStateSRIFResultinformation_to_state()state_to_information()information_filter()srif_predict()srif_update()srif_filter()fuse_information()KalmanStateKalmanPredictionKalmanUpdatekf_predict()kf_update()kf_predict_update()kf_smooth()information_filter_predict()information_filter_update()ekf_predict()ekf_update()numerical_jacobian()ekf_predict_auto()ekf_update_auto()iterated_ekf_update()SigmaPointssigma_points_merwe()sigma_points_julier()unscented_transform()ukf_predict()ukf_update()ckf_spherical_cubature_points()ckf_predict()ckf_update()SRKalmanStateSRKalmanPredictionSRKalmanUpdatesrkf_predict()srkf_update()srkf_predict_update()UDStateud_factorize()ud_reconstruct()ud_predict()ud_update()sr_ukf_predict()sr_ukf_update()IMMStateIMMPredictionIMMUpdateimm_predict()imm_update()imm_predict_update()IMMEstimatorGaussianComponentGaussianSumFiltergaussian_sum_filter_predict()gaussian_sum_filter_update()RBPFParticleRBPFFilterrbpf_predict()rbpf_update()ParticleStateresample_multinomial()resample_systematic()resample_residual()effective_sample_size()bootstrap_pf_predict()bootstrap_pf_update()gaussian_likelihood()bootstrap_pf_step()particle_mean()particle_covariance()initialize_particles()- Kalman Filters
- Interacting Multiple Model (IMM) Estimator
- Particle Filters
- Assignment Algorithms
hungarian()auction()linear_sum_assignment()assign2d()AssignmentResultKBestResultmurty()kbest_assign2d()ranked_assignments()Assignment3DResultassign3d()assign3d_lagrangian()assign3d_auction()greedy_3d()decompose_to_2d()ellipsoidal_gate()rectangular_gate()gate_measurements()mahalanobis_distance()chi2_gate_threshold()compute_gate_volume()gnn_association()nearest_neighbor()compute_association_cost()gated_gnn_association()AssociationResultJPDAResultJPDAUpdatejpda()jpda_update()jpda_probabilities()compute_likelihood_matrix()AssignmentNDResultvalidate_cost_tensor()greedy_assignment_nd()relaxation_assignment_nd()auction_assignment_nd()detect_dimension_conflicts()FlowStatusMinCostFlowResultassignment_to_flow_network()min_cost_flow_successive_shortest_paths()min_cost_assignment_via_flow()- 2D Assignment
- Gating
- Data Association
Signal Processing & Transforms
- Signal Processing
FilterCoefficientsFrequencyResponsebutter_design()cheby1_design()cheby2_design()ellip_design()bessel_design()fir_design()fir_design_remez()apply_filter()filtfilt()frequency_response()group_delay()filter_order()sos_to_zpk()zpk_to_sos()MatchedFilterResultPulseCompressionResultmatched_filter()matched_filter_frequency()optimal_filter()pulse_compression()generate_lfm_chirp()generate_nlfm_chirp()ambiguity_function()cross_ambiguity()CFARResultCFARResult2Dcfar_ca()cfar_go()cfar_so()cfar_os()cfar_2d()threshold_factor()detection_probability()cluster_detections()snr_loss()- Filter Design
- Matched Filtering
- CFAR Detection
- Transforms
PowerSpectrumCrossSpectrumCoherenceResultfft()ifft()rfft()irfft()fft2()ifft2()fftshift()ifftshift()frequency_axis()rfft_frequency_axis()power_spectrum()cross_spectrum()coherence()periodogram()magnitude_spectrum()phase_spectrum()STFTResultSpectrogramstft()istft()spectrogram()get_window()window_bandwidth()reassigned_spectrogram()mel_spectrogram()CWTResultDWTResultmorlet_wavelet()ricker_wavelet()gaussian_wavelet()cwt()scales_to_frequencies()frequencies_to_scales()dwt()idwt()dwt_single_level()idwt_single_level()wpt()available_wavelets()wavelet_info()threshold_coefficients()- Fourier Transforms
- Short-Time Fourier Transform
- Wavelet Transforms
Geophysical Models
- Gravity Models
associated_legendre()associated_legendre_derivative()spherical_harmonic_sum()gravity_acceleration()legendre_scaling_factors()associated_legendre_scaled()GravityConstantsGravityResultnormal_gravity_somigliana()normal_gravity()gravity_wgs84()gravity_j2()geoid_height_j2()gravitational_potential()free_air_anomaly()bouguer_anomaly()clenshaw_sum_order()clenshaw_sum_order_derivative()clenshaw_potential()clenshaw_gravity()EGMCoefficientsGeoidResultGravityDisturbanceget_data_dir()load_egm_coefficients()geoid_height()geoid_heights()gravity_disturbance()gravity_anomaly()deflection_of_vertical()create_test_coefficients()TidalDisplacementTidalGravityOceanTideLoadingjulian_centuries_j2000()fundamental_arguments()moon_position_approximate()sun_position_approximate()solid_earth_tide_displacement()solid_earth_tide_gravity()ocean_tide_loading_displacement()atmospheric_pressure_loading()pole_tide_displacement()total_tidal_displacement()tidal_gravity_correction()- Spherical Harmonics
- EGM Models
- Gravity Models
- Clenshaw Summation
- Tidal Effects
- Magnetism Models
MagneticResultMagneticCoefficientsIGRFModelcreate_wmm2020_coefficients()magnetic_field_spherical()wmm()magnetic_declination()magnetic_inclination()magnetic_field_intensity()get_magnetic_cache_info()clear_magnetic_cache()configure_magnetic_cache()create_igrf13_coefficients()igrf()igrf_declination()igrf_inclination()dipole_moment()dipole_axis()magnetic_north_pole()HighResCoefficientsget_emm_data_dir()load_emm_coefficients()create_emm_test_coefficients()emm()wmmhr()emm_declination()emm_inclination()emm_intensity()- World Magnetic Model (WMM)
- IGRF Model
- Enhanced Magnetic Model (EMM) and WMMHR2025
- Atmosphere
- Submodules
AtmosphereStateus_standard_atmosphere_1976()isa_atmosphere()altitude_from_pressure()mach_number()true_airspeed_from_mach()NRLMSISE00NRLMSISE00OutputF107Indexnrlmsise00()IonosphereStateKlobucharCoefficientsklobuchar_delay()dual_frequency_tec()ionospheric_delay_from_tec()simple_iri()magnetic_latitude()scintillation_index()- Atmospheric Models
- NRLMSISE-00 Model
- Terrain
- Submodules
DEMPointTerrainGradientDEMMetadataDEMGridget_elevation_profile()interpolate_dem()merge_dems()create_flat_dem()create_synthetic_terrain()LOSResultViewshedResultHorizonPointline_of_sight()viewshed()compute_horizon()terrain_masking_angle()radar_coverage_map()GEBCOMetadataEarth2014Metadataget_data_dir()load_gebco()load_earth2014()create_test_gebco_dem()create_test_earth2014_dem()get_gebco_metadata()get_earth2014_metadata()- DEM Interface
- Data Loaders
- Visibility Analysis
Estimation & Tracking
- Static Estimation
LSResultWLSResultTLSResultordinary_least_squares()weighted_least_squares()total_least_squares()generalized_least_squares()recursive_least_squares()ridge_regression()RobustResultRANSACResulthuber_weight()huber_rho()tukey_weight()tukey_rho()cauchy_weight()mad()tau_scale()irls()huber_regression()tukey_regression()ransac()ransac_n_trials()MLResultCRBResultfisher_information_numerical()fisher_information_gaussian()fisher_information_exponential_family()observed_fisher_information()cramer_rao_bound()cramer_rao_bound_biased()efficiency()mle_newton_raphson()mle_scoring()mle_gaussian()aic()bic()aicc()- Least Squares
- Maximum Likelihood
- Robust Estimation
- Trackers
SingleTargetTrackerTrackStateMultiTargetTrackerTrackTrackStatusMHTTrackStatusMHTTrackHypothesisHypothesisAssignmentHypothesisTreegenerate_joint_associations()compute_association_likelihood()n_scan_prune()prune_hypotheses_by_probability()MHTConfigMHTResultMHTTracker- Single Target Tracking
- Multi-Target Tracking
- Multiple Hypothesis Tracking (MHT)
- Hypothesis Management
- Clustering
GaussianComponentMergeResultReductionResultGaussianMixturemoment_match()runnalls_merge_cost()merge_gaussians()prune_mixture()reduce_mixture_runnalls()west_merge_cost()reduce_mixture_west()KMeansResultkmeans_plusplus_init()assign_clusters()update_centers()kmeans()kmeans_elbow()DBSCANResultcompute_neighbors()dbscan()dbscan_predict()LinkageTypeDendrogramNodeHierarchicalResultcompute_distance_matrix()agglomerative_clustering()cut_dendrogram()fcluster()- K-Means
- DBSCAN
- Hierarchical Clustering
- Gaussian Mixtures
GPU Acceleration
Utilities
- Containers
- Spatial Index Hierarchy
BaseSpatialIndexMetricSpatialIndexNeighborResultvalidate_query_input()SpatialQueryResultNearestNeighborResultVPTreeResultCoverTreeResultKDNodeKDTreeBallTreeBoundingBoxmerge_boxes()box_from_point()box_from_points()RTreeNodeRTreeResultRTreeVPNodeVPTreeCoverTreeNodeCoverTreeTrackListTrackQueryTrackListStatsMeasurementMeasurementSetMeasurementQueryTrackClusterClusterSetClusterStatscluster_tracks_dbscan()cluster_tracks_kmeans()compute_cluster_centroid()- K-D Tree
- Ball Tree
- R-Tree
- VP-Tree
- Cover Tree
- Plotting
covariance_ellipse_points()covariance_ellipsoid_points()ellipse_parameters()confidence_region_radius()plot_covariance_ellipse()plot_covariance_ellipses()plot_covariance_ellipsoid()plot_trajectory_2d()plot_trajectory_3d()plot_measurements_2d()plot_tracking_result()plot_multi_target_tracks()plot_state_time_series()plot_estimation_comparison()create_animated_tracking()plot_coordinate_axes_3d()plot_rotation_comparison()plot_euler_angles()plot_quaternion_interpolation()plot_spherical_grid()plot_points_spherical()plot_coordinate_transform()plot_rmse_over_time()plot_nees_sequence()plot_nis_sequence()plot_ospa_over_time()plot_cardinality_over_time()plot_error_histogram()plot_consistency_summary()plot_monte_carlo_rmse()- Track Plotting
- Ellipse Plotting
- Metrics Plotting
- Coordinate Plotting
- Performance Evaluation
OSPAResultMOTMetricsospa()ospa_over_time()track_purity()track_fragmentation()identity_switches()mot_metrics()ConsistencyResultrmse()position_rmse()velocity_rmse()nees()nees_sequence()average_nees()nis()nis_sequence()consistency_test()credibility_interval()monte_carlo_rmse()estimation_error_bounds()- Track Metrics
- Estimation Metrics