Added IMM (#1736)

* Added IMM

* Replace numpy with pyrecest.backend in interacting_multiple_model_filter

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* Clean up isclose/allclose scalar comparisons and simplify log computation

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* Suppress too-many-arguments pylint warnings in update_nonlinear

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---------

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Co-authored-by: FlorianPfaff <6773539+FlorianPfaff@users.noreply.github.com>

Author: FlorianPfaff

pyrecest/filters/__init__.py

@@ -32,6 +32,7 @@
     JPDAF,
     JointProbabilisticDataAssociationFilter,
 )
+from .interacting_multiple_model_filter import IMM, InteractingMultipleModelFilter
 from .kalman_filter import KalmanFilter
 from .kernel_sme_filter import KernelSMEFilter
 from .lin_bounded_particle_filter import LinBoundedParticleFilter
@@ -87,6 +88,8 @@
     "GlobalNearestNeighbor",
     "JPDAF",
     "JointProbabilisticDataAssociationFilter",
+    "IMM",
+    "InteractingMultipleModelFilter",
     "GPRHMTracker",
     "HypercylindricalFilterMixin",
     "HypercylindricalParticleFilter",