Added tests for skip_non_reversible in MultiMeasurementInitiator

stonesoup/initiator/tests/test_simple.py

@@ -279,7 +279,7 @@ def rvs(self):
             measurement_model.matrix().T == approx(measurement_model.covar())
 
 
-def create_multi_measurement_initiator(obj_class, updates_only: bool):
+def create_multi_measurement_initiator(obj_class, **kwargs):
     transition_model = CombinedLinearGaussianTransitionModel(
         (ConstantVelocity(0.05), ConstantVelocity(0.05)))
     measurement_model = LinearGaussian(
@@ -292,10 +292,15 @@ def create_multi_measurement_initiator(obj_class, updates_only: bool):
     data_associator = NearestNeighbour(hypothesiser)
     deleter = UpdateTimeDeleter(datetime.timedelta(seconds=59))
 
-    measurement_initiator = obj_class(
-        prior_state=GaussianState([[0], [0], [0], [0]], np.diag([0, 15, 0, 15])),
-        deleter=deleter, data_associator=data_associator, updater=updater,
-        measurement_model=measurement_model, updates_only=updates_only)
+    obj_kwargs = dict(prior_state=GaussianState([[0], [0], [0], [0]], np.diag([0, 15, 0, 15])),
+                      deleter=deleter,
+                      data_associator=data_associator,
+                      updater=updater,
+                      measurement_model=measurement_model)
+
+    obj_kwargs.update(kwargs)
+    measurement_initiator = obj_class(**obj_kwargs)
+
     return measurement_initiator
 
 
@@ -326,7 +331,7 @@ def test_multi_measurement(updates_only):
     assert len(measurement_initiator.holding_tracks) == 0
 
 
-def test_multi_measurement2():
+def test_no_history_multi_measurement():
     measurement_initiator = create_multi_measurement_initiator(NoHistoryMultiMeasurementInitiator,
                                                                updates_only=False)
 
@@ -346,6 +351,45 @@ def test_multi_measurement2():
         assert len(track) == 1
 
 
+@pytest.mark.parametrize("measurement_model_class",
+                         (CartesianToBearingRange, Cartesian2DToBearing, LinearGaussian))
+@pytest.mark.parametrize("skip_non_reversible", (True, False))
+def test_skip_in_multi_measurement(measurement_model_class, skip_non_reversible):
+    timestamp = datetime.datetime.now()
+
+    if measurement_model_class == Cartesian2DToBearing:
+        state_len = 1
+    else:
+        state_len = 2
+
+    measurement_model = measurement_model_class(ndim_state=2, mapping=(0, 1),
+                                                noise_covar=np.diag([1]*state_len))
+
+    det = Detection(state_vector=np.array([[2]*state_len]),
+                    timestamp=timestamp,
+                    measurement_model=measurement_model
+                    )
+
+    interal_initiator = SinglePointInitiator(
+        prior_state=GaussianState([[0], [0]], np.diag([15, 15])))
+
+    measurement_initiator = create_multi_measurement_initiator(
+        MultiMeasurementInitiator,
+        initiator=interal_initiator,
+        measurement_model=None,
+        skip_non_reversible=skip_non_reversible)
+
+    measurement_initiator.initiate({det}, timestamp)
+    holding_tracks = measurement_initiator.holding_tracks
+
+    if isinstance(measurement_model, Cartesian2DToBearing) and skip_non_reversible:
+        assert len(holding_tracks) == 0
+    else:
+        assert len(holding_tracks) == 1
+        for track in holding_tracks:
+            assert track.timestamp == timestamp
+
+
 @pytest.mark.parametrize("initiator", [
     SinglePointInitiator(
         GaussianState(np.array([[0]]), np.array([[100]]))