Correct GaussianMixturePrediction coverting to GaussianStatePrediction

dstl · Dec 13, 2023 · 2d449aa · 2d449aa
1 parent ee84253
commit 2d449aa
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/stonesoup/dataassociator/tests/test_mfa.py b/stonesoup/dataassociator/tests/test_mfa.py
@@ -10,7 +10,7 @@
 from ...types.detection import Detection
 from ...types.mixture import GaussianMixture
 from ...types.numeric import Probability
-from ...types.state import TaggedWeightedGaussianState
+from ...types.state import TaggedWeightedGaussianState, GaussianState
 from ...types.track import Track
 from ...types.update import GaussianMixtureUpdate
 try:
@@ -34,7 +34,11 @@ def update_tracks(associations, updater):
 def generate_detections(tracks, timestamp, predictor, measurement_model, n=2):
     return {
         Detection(
-            measurement_model.function(predictor.predict(track, timestamp), noise=True),
+            measurement_model.function(predictor.predict(
+                GaussianState(
+                    track.mean,
+                    track.covar,
+                    track.timestamp), timestamp), noise=True),
             timestamp=timestamp)
         for track in tracks for _ in range(n)}  # n detections per track; pseudo clutter
 

diff --git a/stonesoup/types/mixture.py b/stonesoup/types/mixture.py
@@ -9,7 +9,6 @@
 from .base import Type
 from .array import StateVectors
 from .numeric import Probability
-from .prediction import Prediction, GaussianStatePrediction
 from .state import GaussianState, TaggedWeightedGaussianState, WeightedGaussianState
 
 
@@ -128,4 +127,3 @@ def component_tags(self):
 
 
 GaussianState.register(GaussianMixture)
-Prediction.class_mapping[Prediction][GaussianMixture] = GaussianStatePrediction