refactor: parametric filter and model types + StaticArrays test suite#58
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This was referenced May 26, 2026
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Make struct fields concrete-parametric to eliminate type instability:
- KalmanFilter, ExtendedKalmanFilter, UnscentedKalmanFilter now carry
dynamics/observation model type parameters instead of holding the
abstract supertype fields.
- Measurement, Dynamics, Spawn, PHDFilter now bind concrete matrix /
vector / function types via parametric field types.
- ExtendedKalmanFilter inner constructor preserves the existing
'use kf over ekf' guard while operating with type parameters.
- UnscentedKalmanFilter no longer falls back to Int8 sentinel
parameters; convenience constructors forward to the parametric one
and let promotion infer the types.
Add StaticArrays test suite covering KF, EKF, and UKF end-to-end with
SVector/SMatrix inputs, verifying the package works with stack-allocated
arrays now that the model/filter structs are concrete-typed.
GaussianMixture's struct signature is intentionally left as-is
because Vector{GaussianMixture} operations in src/gmphd.jl rely on
the existing parametric layout — tightening it broke the GM-PHD
update loop.
Closes #22, closes #10, closes #47
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Closes #22, closes #10, closes #47
Make struct fields concrete-parametric to eliminate type instability:
KalmanFilter,ExtendedKalmanFilter,UnscentedKalmanFilternow carry dynamics/observation model type parameters instead of holding the abstract supertype fields.Measurement,Dynamics,Spawn,PHDFilternow bind concrete matrix / vector / function types via parametric field types.ExtendedKalmanFilterinner constructor preserves the existing 'use kf over ekf' guard while operating with type parameters.UnscentedKalmanFilterno longer falls back to Int8 sentinel parameters; convenience constructors forward to the parametric one and let promotion infer the types.Add StaticArrays test suite covering KF, EKF, and UKF end-to-end with
SVector/SMatrixinputs, verifying the package works with stack-allocated arrays now that the model/filter structs are concrete-typed.GaussianMixture's struct signature is intentionally left as-is becauseVector{GaussianMixture}operations insrc/gmphd.jlrely on the existing parametric layout — tightening it broke the GM-PHD update loop.