Oliver Harrald

The current model inheritance hierarchy certainly isn't clear. A quick fix to your issue might be to `register` `CombinedLineaerGaussianTransitionModel` as a subclass of `LinearGaussianTransitionModel`. For an example of subclass registering,...

I've replaced the separate `hypothesisers` and `measurement_models` attributes in favour of a dictionary, keyed by the measurement model **types** and valued with the hypothesisers. The reason behind not using particular...

Is there a case in which we would NOT want state vector types to be preserved? Does it makes sense to have this type preservation in the base class `function`,...

Prior to merging, could commit messages be reworded to give context please?

I suppose full covariance matrix definitions would remain the same. A few of us had been quite confused over tracker behaviour until realising our model covariance inputs were variance and...

Is this model invertible? Inverting range rate back to state space leads to incorrect velocities in some instances. Would it be better to make an inheritance of 'semi-invertible' measurement models,...

Passing the sensors as a set could be fine? From the sensor, you can use its `movement_controller` to determine historic `states`. So we just need to add one extra argument...