Added history recorder

[FlorianPfaff]

No description provided.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	21.43s
✅ JSON	prettier	2	0	0	0	0.87s
✅ JSON	v8r	2		0	0	2.9s
✅ MARKDOWN	markdownlint	2	0	0	0	0.68s
✅ MARKDOWN	markdown-table-formatter	2	0	0	0	0.22s
✅ PYTHON	bandit	363		0	0	5.51s
✅ PYTHON	black	363	9	0	0	8.75s
✅ PYTHON	flake8	363		0	0	3.06s
✅ PYTHON	isort	363	10	0	0	0.73s
✅ PYTHON	mypy	363		0	0	5.17s
✅ PYTHON	pylint	363		0	0	111.53s
✅ PYTHON	ruff	363	10	0	0	0.07s
✅ REPOSITORY	checkov	yes		no	no	24.71s
✅ REPOSITORY	gitleaks	yes		no	no	8.98s
✅ REPOSITORY	git_diff	yes		no	no	0.03s
✅ REPOSITORY	secretlint	yes		no	no	6.67s
✅ REPOSITORY	syft	yes		no	no	2.53s
✅ REPOSITORY	trivy-sbom	yes		no	no	2.29s
✅ REPOSITORY	trufflehog	yes		no	no	21.24s
✅ YAML	prettier	4	0	0	0	0.47s
✅ YAML	v8r	4		0	0	5.99s
✅ YAML	yamllint	4		0	0	0.45s

See detailed reports in MegaLinter artifacts

Your project could benefit from a custom flavor, which would allow you to run only the linters you need, and thus improve runtime performances. (Skip this info by defining FLAVOR_SUGGESTIONS: false)

• Documentation: Custom Flavors
• Command: npx mega-linter-runner@9.4.0 --custom-flavor-setup --custom-flavor-linters PYTHON_PYLINT,PYTHON_BLACK,PYTHON_FLAKE8,PYTHON_ISORT,PYTHON_BANDIT,PYTHON_MYPY,PYTHON_RUFF,COPYPASTE_JSCPD,JSON_V8R,JSON_PRETTIER,MARKDOWN_MARKDOWNLINT,MARKDOWN_MARKDOWN_TABLE_FORMATTER,REPOSITORY_CHECKOV,REPOSITORY_GIT_DIFF,REPOSITORY_GITLEAKS,REPOSITORY_SECRETLINT,REPOSITORY_SYFT,REPOSITORY_TRIVY_SBOM,REPOSITORY_TRUFFLEHOG,YAML_PRETTIER,YAML_YAMLLINT,YAML_V8R

Show us your support by starring ⭐ the repository

[FlorianPfaff]

@copilot Do not use numpy, import from pyrecest.backend instead (see other classes)

[FlorianPfaff]

@copilot Fix these

❌ PYTHON / flake8 - 1 error
pyrecest/filters/abstract_extended_object_tracker.py:6:1: F401 'pyrecest.backend.array' imported but unused
❌ PYTHON / pylint - 15 errors
************* Module pyrecest.filters.abstract_extended_object_tracker
pyrecest/filters/abstract_extended_object_tracker.py:6:0: W0611: Unused array imported from pyrecest.backend (unused-import)
************* Module pyrecest.filters.abstract_tracker_with_logging
pyrecest/filters/abstract_tracker_with_logging.py:32:12: W0201: Attribute 'prior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:48:16: W0201: Attribute 'prior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:34:12: W0201: Attribute 'posterior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:51:16: W0201: Attribute 'posterior_extents_over_time' defined outside init (attribute-defined-outside-init)
************* Module pyrecest.tests.test_history_recorder
pyrecest/tests/test_history_recorder.py:25:4: W0246: Useless parent or super() delegation in method 'init' (useless-parent-delegation)
pyrecest/tests/test_history_recorder.py:107:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:109:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:111:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:123:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:124:8: W0212: Access to a protected member _extent of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:128:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:129:8: W0212: Access to a protected member _extent of a client class (protected-access)
************* Module pyrecest.utils.history_recorder
pyrecest/utils/history_recorder.py:10:0: R0402: Use 'from pyrecest import backend' instead (consider-using-from-import)
pyrecest/utils/history_recorder.py:79:4: R1710: Either all return statements in a function should return an expression, or none of them should. (inconsistent-return-statements)

---

Your code has been rated at 9.99/10

[Copilot]

@copilot Do not use numpy, import from pyrecest.backend instead (see other classes)

Fixed in 33a2b3d. Replaced import numpy as np with from pyrecest.backend import array, zeros and from math import nan in test_history_recorder.py, following the convention used in other filter test files.

[github-actions]

Test Results

    12 files  ± 0     12 suites  ±0   4h 3m 38s ⏱️ - 19m 52s
 1 003 tests + 6  1 003 ✅ + 6      0 💤 ±0  0 ❌ ±0 
12 320 runs  +72  9 516 ✅ +68  2 804 💤 +4  0 ❌ ±0 

Results for commit 191df81. ± Comparison against base commit 89819a9.

♻️ This comment has been updated with latest results.

[FlorianPfaff]

@copilot Fix this

************* Module pyrecest.filters.abstract_extended_object_tracker
pyrecest/filters/abstract_extended_object_tracker.py:6:0: W0611: Unused array imported from pyrecest.backend (unused-import)
************* Module pyrecest.filters.abstract_tracker_with_logging
pyrecest/filters/abstract_tracker_with_logging.py:32:12: W0201: Attribute 'prior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:48:16: W0201: Attribute 'prior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:34:12: W0201: Attribute 'posterior_extents_over_time' defined outside init (attribute-defined-outside-init)
pyrecest/filters/abstract_tracker_with_logging.py:51:16: W0201: Attribute 'posterior_extents_over_time' defined outside init (attribute-defined-outside-init)
************* Module pyrecest.tests.test_history_recorder
pyrecest/tests/test_history_recorder.py:28:4: W0246: Useless parent or super() delegation in method 'init' (useless-parent-delegation)
pyrecest/tests/test_history_recorder.py:110:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:112:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:114:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:126:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:127:8: W0212: Access to a protected member _extent of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:131:8: W0212: Access to a protected member _estimate of a client class (protected-access)
pyrecest/tests/test_history_recorder.py:132:8: W0212: Access to a protected member _extent of a client class (protected-access)
************* Module pyrecest.utils.history_recorder
pyrecest/utils/history_recorder.py:10:0: R0402: Use 'from pyrecest import backend' instead (consider-using-from-import)
pyrecest/utils/history_recorder.py:79:4: R1710: Either all return statements in a function should return an expression, or none of them should. (inconsistent-return-statements)

---

[Copilot]

@copilot Fix these

❌ PYTHON / flake8 - 1 error
...

Fixed in 4dc1dd1:

• Removed unused array import from abstract_extended_object_tracker.py
• Initialized prior_extents_over_time/posterior_extents_over_time to None in AbstractTrackerWithLogging.__init__
• Changed import pyrecest.backend as backend to from pyrecest import backend in history_recorder.py
• Added return None for consistent return statements in clear()
• Removed useless __init__ from _DummyFilter
• Renamed _estimate/_extent to public estimate/extent in dummy test classes

@copilot Fix this

************* Module pyrecest.filters.abstract_extended_object_tracker
...

Fixed in 4dc1dd1. All the listed pylint warnings have been addressed.

[FlorianPfaff]

@copilot Fix this

=================================== FAILURES ===================================
___ HistoryRecorderTest.test_filter_helpers_record_state_and_point_estimate ____

self = <pyrecest.tests.test_history_recorder.HistoryRecorderTest testMethod=test_filter_helpers_record_state_and_point_estimate>

def test_filter_helpers_record_state_and_point_estimate(self):

  filter_obj = _DummyFilter(_DummyBelief([1.0, 2.0]))

                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

E TypeError: Can't instantiate abstract class _DummyFilter without an implementation for abstract method 'init'

pyrecest/tests/test_history_recorder.py:94: TypeError

[FlorianPfaff]

@copilot Adaptations for new TrackManager in latest main:

@@
@DataClass
class Track:
@@

• history: List[Dict[str, Any]] = field(default_factory=list)

• event_history: List[Dict[str, Any]] = field(default_factory=list)

@@ class TrackManager.init
self.tracks: List[Track] = []
self._next_track_id = 0
self._current_step = -1

•    if self.keep_history and "track_events" not in self.history:
  

•        self.history.register("track_events")
  

@@
def _record_history(self, track: Track, step: int, event: str, **payload) -> None:
if not self.keep_history:
return

•    event_record = {"step": int(step), "event": event}
  

•    event_record = {"track_id": track.track_id, "step": int(step), "event": event}
     event_record.update(payload)
  

•    track.history.append(event_record)
  

•    track.event_history.append(copy.deepcopy(event_record))
  

•    self.record_history("track_events", event_record, copy_value=True)
  

• def clear_history(self, name=None):

•    super().clear_history(name)
  

•    if name is None or name == "track_events":
  

•        for track in self.tracks:
  

•            track.event_history.clear()
  

[Copilot]

@copilot resolve the merge conflicts in this pull request

Resolved in 06b3e0e. Merged origin/main (which added the new pyrecest/smoothers/ module) into the branch, keeping our event_history/track_events changes in track_manager.py and bringing in the new smoother files cleanly.

[FlorianPfaff]

@copilot resolve the merge conflicts in this pull request

[Copilot]

@copilot resolve the merge conflicts in this pull request

The branch is already up-to-date with origin/main — the last merge commit (06b3e0e) already incorporated the latest main (4832ce7 Added first smoothers). There are no merge conflicts to resolve.

[FlorianPfaff]

@copilot Can you fix this?

❌ PYTHON / flake8 - 10 errors
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'AssociationResult' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'Track' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'TrackManager' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'TrackManagerStepResult' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'TrackStatus' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'build_global_nearest_neighbor_associator' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'build_kalman_measurement_initiator' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'build_linear_gaussian_predictor' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'build_linear_gaussian_updater' from line 59
pyrecest/filters/init.py:73:1: F811 redefinition of unused 'solve_global_nearest_neighbor' from line 59
❌ PYTHON / mypy - 1 error
pyrecest/utils/history_recorder.py:34: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs [annotation-unchecked]
pyrecest/smoothers/unscented_rauch_tung_striebel_smoother.py:50: note: By default the bodies of untyped functions are not checked, consider using --check-untyped-defs [annotation-unchecked]
pyrecest/filters/track_manager.py:201: error: Unsupported right operand type for in ("Any | None") [operator]
Found 1 error in 1 file (checked 346 source files)
❌ PYTHON / pylint - 11 errors
************* Module pyrecest.filters
pyrecest/filters/init.py:73:0: W0404: Reimport 'AssociationResult' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'Track' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'TrackManager' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'TrackManagerStepResult' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'TrackStatus' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'build_global_nearest_neighbor_associator' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'build_kalman_measurement_initiator' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'build_linear_gaussian_predictor' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'build_linear_gaussian_updater' (imported line 59) (reimported)
pyrecest/filters/init.py:73:0: W0404: Reimport 'solve_global_nearest_neighbor' (imported line 59) (reimported)
************* Module pyrecest.filters.track_manager
pyrecest/filters/track_manager.py:155:4: R0914: Too many local variables (17/15) (too-many-locals)

---

Your code has been rated at 9.99/10

[Copilot]

@copilot Can you fix this?

❌ PYTHON / flake8 - 10 errors
...

Fixed in 0ff1ff5:

• Removed the duplicate from .track_manager import (...) block at line 73 in pyrecest/filters/__init__.py (was identical to the one at line 59) — resolves all 10 flake8 F811 and pylint W0404 errors
• Replaced the getattr-based defensive pattern with direct self.history access in TrackManager.__init__ — fixes the mypy Unsupported right operand type for in ("Any | None") error and eliminates the tracker_history/register intermediate locals, bringing the variable count from 17 to 15