Release 2.0.0

✨ Features

• Introduce AdditiveNoiseTransitionModel and AdditiveNoiseMeasurementModel so nonlinear additive-noise dynamics and sensor models can be defined once and reused across compatible filters. (#1950)
• Add SO(3) and SO(3)^K representation conversion support, including aliases and tangent-Gaussian and Dirac approximations for rotation distributions. (#1939)
• Add reusable model adapters for grid filters so AbstractGridFilter can update from likelihood models and predict from transition-density models. (#1948)
• Expand representation conversion aliases with domain-specific targets, custom alias registration, and a runnable conversion example for more distribution families. (#1964)
• Add predict_model(...) and update_model(...) support to particle filters for reusable transition-sampling and likelihood model objects. (#1947)
• Add predict_model(...) and update_model(...) support to UnscentedKalmanFilter for reusable additive-noise transition and measurement models. (#1944)
• Add KalmanFilter.predict_model(...) and update_model(...) so linear Gaussian model objects can be passed directly to the filter. (#1945)
• Add reusable likelihood, transition-sampling, and transition-density model objects in pyrecest.models for particle, grid, and related estimators. (#1949)
• Add reusable linear Gaussian transition and measurement model classes in pyrecest.models with prediction and noise helper methods. (#1946)
• Add string-based representation conversion aliases such as particles, gaussian, grid, and fourier, plus convert_to(...) convenience methods on distributions. (#1931)
• Introduce a distribution representation-conversion layer with convert_distribution(...), conversion registration helpers, and method-form convert_to(...) access on distributions. (#1929)
• Add proposal-based rejuvenation for goal-conditioned replay particle filters so particles can be pulled back onto high-likelihood position hypotheses after an update. (#1928)
• Add GoalConditionedReplayParticleIMMFilter with per-particle motion modes for stationary, diffusion, momentum, goal-directed, and jump replay dynamics. (#1927)

⚡ Improvements

• Make the representation conversion API available directly from pyrecest.distributions, including package-level exports for convert_distribution(...) and related helpers. (#1940)
• Add pyrecest.protocols.testing helpers that make it easier to check whether custom distributions, filters, and models satisfy PyRecEst capability protocols. (#1953)
• Add public model capability protocols and adapter helpers that let existing Kalman-style APIs accept structurally compatible model objects. (#1962)
• Add a protocol capability matrix for representative distributions and filters, and ensure batched particle-model predictions keep the expected particle layout. (#1965)
• Ship a py.typed marker so PyRecEst exposes its type information to external type checkers and typed downstream projects. (#1954)
• Introduce the public pyrecest.protocols package with common array and dimension contracts plus filter capability protocols for extension code. (#1952)
• Add backend-aware validation utilities for model vectors, matrices, covariances, and inferred state dimensions to make reusable model objects safer to construct. (#1942)
• Speed up StateSpaceSubdivisionFilter linear updates and relaxed S3F covariance calculations with vectorized implementations. (#1926)

📚 Docs

• Document how to extend pyrecest.protocols and add runnable custom distribution and custom filter examples. (#1963)
• Add executable Kalman, Unscented Kalman, and particle filter examples that show how to use reusable model objects across filters. (#1943)

Release 1.1.2

What's Changed

• [codex] improve docs and examples by @FlorianPfaff in #1886
• [codex] add von Mises-Fisher multiplication example by @FlorianPfaff in #1888
• [codex] add gaussian multiplication example by @FlorianPfaff in #1887
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1890
• [codex] add multi-target tracking example by @FlorianPfaff in #1889
• Add initial documentation pages by @FlorianPfaff in #1891
• Add Poetry build backend by @FlorianPfaff in #1898
• Add Sobol and Halton proposal grid samplers by @FlorianPfaff in #1901
• Add docstring references for distributions and filters by @FlorianPfaff in #1897
• Document common shapes and conventions by @FlorianPfaff in #1892
• Improve core API docstrings by @FlorianPfaff in #1893
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1903
• Add generated API docs by @FlorianPfaff in #1896
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1907
• Add manifold exponential moving average by @FlorianPfaff in #1905
• Add Fibonacci rejection sampler by @FlorianPfaff in #1902
• Move UKF sigma points to sampling by @FlorianPfaff in #1900
• Document backend compatibility by @FlorianPfaff in #1894
• Add SO3 chordal mean smoother by @FlorianPfaff in #1906
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1908
• Add sliding-window manifold mean smoother by @FlorianPfaff in #1904
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1909
• Add task tutorial documentation by @FlorianPfaff in #1895
• Add SO3 Dirac distribution by @FlorianPfaff in #1910
• Add circular relaxed S3F prediction helpers by @FlorianPfaff in #1899
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1916
• Add SO3 distance helpers by @FlorianPfaff in #1917
• Add SO3 tangent Gaussian distribution by @FlorianPfaff in #1911
• Bump version from 1.1.1 to 1.1.2 by @FlorianPfaff in #1919
• Fix hyperhemispherical uniform sampling by @FlorianPfaff in #1918
• Add SO3 Bingham distribution by @FlorianPfaff in #1912
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1921
• Fix SO3 Dirac chordal distance clip import by @FlorianPfaff in #1920
• Add SO3 uniform distribution by @FlorianPfaff in #1913
• Add SO3 product particle filter by @FlorianPfaff in #1922
• Update workflow actions for Node 24 by @FlorianPfaff in #1924
• Add SO3 product tangent Gaussian distribution by @FlorianPfaff in #1915
• Add SO3 product Dirac distribution by @FlorianPfaff in #1914

Full Changelog: 1.1.1...1.1.2

Release 1.1.1

What's Changed

• [codex] Fix GNN default gating threshold by @FlorianPfaff in #1845
• [codex] Fix Dirac distribution mode selection by @FlorianPfaff in #1838
• [codex] Add Fourier-coefficient RHM tracker by @FlorianPfaff in #1839
• [codex] Export score-native multisession helpers by @FlorianPfaff in #1847
• [codex] Fix groundtruth input timestep indexing by @FlorianPfaff in #1854
• [codex] Fix JAX randint backend by @FlorianPfaff in #1849
• [codex] Fix scalar filter parameter expansion by @FlorianPfaff in #1862
• [codex] Add MEM-EKF tracker by @FlorianPfaff in #1850
• [codex] Fix GPRHM contour point count by @FlorianPfaff in #1859
• [codex] Fix hypertoroidal nonadditive particle prediction by @FlorianPfaff in #1857
• [codex] Add numerical circular KL divergence by @FlorianPfaff in #1868
• [codex] Fix KernelSME empty gated update by @FlorianPfaff in #1864
• [codex] Fix EOT fixed-count array handling by @FlorianPfaff in #1855
• [codex] Fix deviation failure warning without metadata by @FlorianPfaff in #1860
• [codex] Fix summarize run count warning by @FlorianPfaff in #1840
• Allow CI workflows on PRs to any branch by @FlorianPfaff in #1869
• [codex] Fix Shapely boundary sampling by @FlorianPfaff in #1846
• [codex] Fix PyTorch choice without replacement by @FlorianPfaff in #1841
• Add abstract interface for multiple extended-object trackers by @FlorianPfaff in #1863
• [codex] Fix Poetry extras dependency declarations by @FlorianPfaff in #1842
• [codex] Add basic Kalman filter example by @FlorianPfaff in #1875
• [codex] Fix PyTorch backend std signature by @FlorianPfaff in #1872
• Update requirements by @FlorianPfaff in #1876
• Update Python image version in devcontainer.json by @FlorianPfaff in #1874
• [codex] Fix random matrix extent update by @FlorianPfaff in #1843
• [codex] Fix MTT measurement generation by @FlorianPfaff in #1852
• [codex] Fix groundtruth object-array indexing by @FlorianPfaff in #1856
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1851
• Remove 'useless-suppression' from pyproject.toml by @FlorianPfaff in #1878
• [codex] Add EKF spline tracker by @FlorianPfaff in #1865
• [codex] Add observation-specific multisession costs by @FlorianPfaff in #1870
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1879
• [codex] Align distribution method signatures by @FlorianPfaff in #1881
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1882
• Added CircularFourierFilter by @FlorianPfaff in #273
• Added SE2StateSpaceSubdivisionGaussianDistribution by @FlorianPfaff in #277
• [codex] Extend GP-RHM with full SCGP tracker variants by @FlorianPfaff in #1861
• Codex/add mem ekf tracker by @FlorianPfaff in #1880
• [codex] Fix EOT measurement timestep poses by @FlorianPfaff in #1844
• [codex] Use pyrecest.backend copy alias by @FlorianPfaff in #1884
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1883
• Bump version from 1.1.0 to 1.1.1 by @FlorianPfaff in #1885

Full Changelog: 1.1.0...1.1.1

Release 1.1.0

What's Changed

• [codex] Clarify manual PyPI publish target selection by @FlorianPfaff in #1830
• [codex] Publish PyPI artifacts from GitHub release assets by @FlorianPfaff in #1831
• [codex] Update pyrecest/evaluation/plot_results.py by @FlorianPfaff in #1791
• [codex] Update pyrecest/evaluation/summarize_filter_results.py by @FlorianPfaff in #1790
• [codex] Update pyrecest/evaluation/evaluate_for_simulation_config.py by @FlorianPfaff in #1782
• Feature/gaussvm new by @FlorianPfaff in #1764
• Added SE3LinVelCartProdStackedDistribution by @FlorianPfaff in #265
• Added feature-based association by @FlorianPfaff in #1750
• [codex] Reorganize repository layout by @FlorianPfaff in #1833
• Update requirements by @FlorianPfaff in #1832
• [codex] Update pyrecest/evaluation/eot_shape_database.py by @FlorianPfaff in #1780
• Port ComplexWatsonDistribution and BayesianComplexWatsonMixtureModel from MATLAB by @Copilot in #1648
• EOT evaluation with test by @FlorianPfaff in #1433
• [codex] Add GGIW extended object tracker by @FlorianPfaff in #1834
• Score native multisession helpers by @FlorianPfaff in #1821
• Added ROI-overlap-based global association by @FlorianPfaff in #1743
• [codex] Update pyrecest/evaluation/generate_simulated_scenarios.py by @FlorianPfaff in #1786
• [codex] Update pyrecest/filters/joint_probabilistic_data_association_filter.py by @FlorianPfaff in #1794
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1836

Full Changelog: 1.0.3...1.1.0

Release 1.0.3

What's Changed

• Added point set registration by @FlorianPfaff in #1742
• Add ability to use external cost mat for GNN by @FlorianPfaff in #1741
• Added nonrigid point set registration by @FlorianPfaff in #1749
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1773
• Remove dependency on bayesian_filters by @FlorianPfaff in #1737
• [codex] Ignore pylint redefined-builtin by @FlorianPfaff in #1800
• Bump idna from 3.11 to 3.12 by @dependabot[bot] in #1775
• Bump setuptools from 81.0.0 to 82.0.1 by @dependabot[bot] in #1770
• Consolidate point set registration by @FlorianPfaff in #1776
• [codex] Add backend isscalar function by @FlorianPfaff in #1808
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1810
• Bump certifi from 2026.2.25 to 2026.4.22 by @dependabot[bot] in #1815
• Bump torch from 2.10.0 to 2.11.0 by @dependabot[bot] in #1813
• Bump idna from 3.12 to 3.13 by @dependabot[bot] in #1814
• [codex] Update pyrecest/filters/hyperhemispherical_particle_filter.py by @FlorianPfaff in #1793
• [codex] Update pyrecest/evaluation/determine_all_deviations.py by @FlorianPfaff in #1779
• Minor cleanup for gaussian distribution by @FlorianPfaff in #1777
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1817
• Added AbstractPeriodicGridDistribution by @FlorianPfaff in #288
• Added HypercylindricalStateSpaceSubdivisionGaussianDistribution by @FlorianPfaff in #291
• Added Murty-based k-best partial assignment by @FlorianPfaff in #1738
• Added HypercylindricalStateSpaceSubdivisionDistribution by @FlorianPfaff in #248
• Bump version from 1.0.2 to 1.0.3 by @FlorianPfaff in #1823
• Added history recorder by @FlorianPfaff in #1744
• [codex] Add size to the backend interface by @FlorianPfaff in #1820
• [codex] Update pyrecest/evaluation/perform_predict_update_cycles.py by @FlorianPfaff in #1789
• [codex] Update pyrecest/filters/hyperhemisphere_cart_prod_particle_filter.py by @FlorianPfaff in #1792
• Update requirements by @FlorianPfaff in #1824
• Remove no longer required requirements file by @FlorianPfaff in #1827
• Cancel in-progress test workflow runs on new PR commits by @FlorianPfaff in #1826
• [codex] Replace stdlib copy imports with pyrecest.backend.copy by @FlorianPfaff in #1825
• Bump matplotlib from 3.10.8 to 3.10.9 by @dependabot[bot] in #1829
• Added CircularGridDistribution by @FlorianPfaff in #285
• [codex] Update pyrecest/evaluation/get_distance_function.py by @FlorianPfaff in #1787
• [codex] Update pyrecest/evaluation/iterate_configs_and_runs.py by @FlorianPfaff in #1788

Full Changelog: 1.0.2...1.0.3

Release 1.0.2

What's Changed

• Upgrade actions/cache from v4 to v5 by @FlorianPfaff in #1534
• Squeeze integrand for hypersphere by @FlorianPfaff in #1533
• Fixed warning suppression in test case by @FlorianPfaff in #1536
• Ignore one more warning by @FlorianPfaff in #1537
• Fixed deprecated assingment by @FlorianPfaff in #1539
• Ensure sigma and mu are scalar for wrapped normal by @FlorianPfaff in #1541
• Upgrade upload-artifact action to version 6 by @FlorianPfaff in #1542
• Use poetry for megalinter by @FlorianPfaff in #1535
• Update download-artifact action to version 6 by @FlorianPfaff in #1543
• Bump mpmath from 1.3.0 to 1.4.0 by @dependabot[bot] in #1521
• Bump pyshtools from 4.13.1 to 4.14.1 by @dependabot[bot] in #1522
• Bump jax from 0.9.0 to 0.9.1 by @dependabot[bot] in #1525
• Bump requests from 2.32.5 to 2.33.0 by @dependabot[bot] in #1527
• Bump numpy from 2.3.5 to 2.4.2 by @dependabot[bot] in #1502
• Update MegaLinter Python flavor to v9.4.0 by @FlorianPfaff in #1523
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1544
• Bump fsspec from 2025.7.0 to 2026.2.0 by @dependabot[bot] in #1545
• Bump ml-dtypes from 0.5.3 to 0.5.4 by @dependabot[bot] in #1546
• Bump pyshtools from 4.13.1 to 4.14.1 by @dependabot[bot] in #1549
• Bump xarray from 2025.6.1 to 2026.2.0 by @dependabot[bot] in #1547
• Output alpine version for ml by @FlorianPfaff in #1551
• Upgrade alpine for generating wheels to match version of megalinter by @FlorianPfaff in #1552
• Update astropy by @FlorianPfaff in #1554
• Minor function argument rename by @FlorianPfaff in #1553
• Bump numpy from 2.3.5 to 2.4.3 by @dependabot[bot] in #1548
• Increased tolerance in test case to avoid random failure by @FlorianPfaff in #1556
• Prevent unnecessary file in prs by megalinter by @FlorianPfaff in #1558
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1557
• Bump certifi from 2026.1.4 to 2026.2.25 by @dependabot[bot] in #1561
• Bump pygments from 2.19.2 to 2.20.0 by @dependabot[bot] in #1559
• Bump jaxlib from 0.9.0 to 0.9.2 by @dependabot[bot] in #1563
• Bump astropy-iers-data from 0.2026.2.23.0.48.33 to 0.2026.3.30.0.54.34 by @dependabot[bot] in #1560
• Bump pygments from 2.19.2 to 2.20.0 by @dependabot[bot] in #1564
• Bump filelock from 3.18.0 to 3.25.2 by @dependabot[bot] in #1565
• Bump kiwisolver from 1.4.9 to 1.5.0 by @dependabot[bot] in #1567
• Bump charset-normalizer from 3.4.4 to 3.4.6 by @dependabot[bot] in #1568
• Bump fonttools from 4.61.1 to 4.62.1 by @dependabot[bot] in #1566
• Fix warnings in test suite by @Copilot in #1569
• Megalinter: Remove temporay file before opening pr by @FlorianPfaff in #1572
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1573
• Fix 3 bugs in EOT shape database by @Copilot in #1574
• Implement SdCondSdGridDistribution for PyRecEst by @Copilot in #1575
• Fix tile/repeat swap in PartiallyWrappedNormalDistribution.pdf() and strengthen test by @Copilot in #1577
• Create only temporary npy file during tests by @FlorianPfaff in #1578
• Prevent temporary plots from remaining in the file system by @FlorianPfaff in #1579
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1581
• Add AbstractAxialFilter for hypersphere filters with antipodal symmetry by @Copilot in #1586
• Add tests for AbstractDummyFilter and HypersphericalDummyFilter by @Copilot in #1585
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1593
• Implement deterministic Fibonacci grid sampler for Euclidean spaces by @Copilot in #1584
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1596
• Fix package handling in megalinter by @FlorianPfaff in #1601
• Port MardiaSuttonDistribution from libDirectional by @Copilot in #1602
• Bump filelock from 3.18.0 to 3.25.2 by @dependabot[bot] in #1600
• Bump setuptools from 82.0.0 to 82.0.1 by @dependabot[bot] in #1599
• Bump iniconfig from 2.1.0 to 2.3.0 by @dependabot[bot] in #1597
• Bump jaxlib from 0.9.0 to 0.9.2 by @dependabot[bot] in #1598
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1604
• Always import pi from backend by @FlorianPfaff in #1606
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1610
• Port ToroidalVMRivestDistribution from libDirectional by @Copilot in #1595
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1611
• Bump pytz from 2025.2 to 2026.1.post1 by @dependabot[bot] in #1612
• Bump torch from 2.10.0 to 2.11.0 by @dependabot[bot] in #1613
• Bump requests from 2.33.0 to 2.33.1 by @dependabot[bot] in #1614
• Bump numpy from 2.4.3 to 2.4.4 by @dependabot[bot] in #1615
• Port ToroidalVMMatrixDistribution (bivariate von Mises, matrix version) from libDirectional by @Copilot in #1605
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1616
• Add rad2deg to pyrecest.backend (all backends) by @Copilot in #1617
• Bump torch from 2.10.0 to 2.11.0 by @dependabot[bot] in #1618
• Bump fsspec from 2026.2.0 to 2026.3.0 by @dependabot[bot] in #1619
• Bump numpy from 2.4.3 to 2.4.4 by @dependabot[bot] in #1620
• Bump charset-normalizer from 3.4.6 to 3.4.7 by @dependabot[bot] in #1621
• Port GSSVMDistribution and fix bessel_ratio normalization bug by @Copilot in #1609
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1622
• Port SE2BinghamDistribution from libDirectional by @Copilot in #1603
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1623
• Port Generalized von Mises distribution from libDirectional by @Copilot in #1591
• Update upload-artifact action to version 6 by @FlorianPfaff in #1624
• [MegaLinter] Apply linters automatic fixes by @FlorianPfaff in #1625
• Port GeneralizedKSineSkewedWrappedCauchyDistribution (GSSC) from libDirectional by @Copilot in #1608
• Porting ToroidalVMCosineDistribution code by @Copilot in #1607
• Implement TdCondTdGridDistribution: conditional grid distribution on the hypertorus by @Copilot in #1576
• Add S2CondS2GridDistribution: conditional distribution on S²×S² by @Copilot in #1590
• Manual fixes for linter by @FlorianPfaff in #1627
• Prevent calling transpose for 0D array by @FlorianPfaff in https://github.com/FlorianPfaff/PyR...

Release 1.0.1

Merge pull request #1531 from FlorianPfaff/FlorianPfaff-patch-18

Bump version from 1.0.0 to 1.0.1

Release 1.0.0

Merge pull request #1442 from FlorianPfaff/releasepy313

Use newer python in workflow for releases

Release 0.9.1

Merge pull request #1335 from FlorianPfaff/v0.9.1

Upped version to 0.9.1

Release 0.9.0

Merge pull request #1301 from FlorianPfaff/v.0.9.0

Upped version number