Add type annotations with ty - #129
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…tion - Add zuban>=0.1.0 as dev dependency in pyproject.toml - Configure mypy (used by zuban) to ignore all files initially - Allow untyped definitions to start gradual type annotation adoption - This sets up the foundation for incrementally adding type annotations to modules one at a time, with zuban validating as we go - Configuration enables: allow_untyped_defs, allow_incomplete_defs, ignore_missing_imports, allow_untyped_globals - Files will be enabled in [mypy] section as they receive type annotations
- Document the gradual type annotation adoption strategy - Explain how to enable modules one at a time for type checking - Provide type annotation guidelines and examples - Show how to increase strictness as coverage improves - Include common patterns and resources for type annotations
…elines - Create scratch_files/ directory for agent-generated documentation - Update AGENTS.md with clear guidance that agents should write documentation to scratch_files/ instead of the repository root - Keep root directory clean with only essential docs (README.md, AGENTS.md, etc) - Allow agents to freely create capitalized markdown files in scratch_files/ - Include examples of appropriate documentation locations
Move the following documentation files to scratch_files/ to keep the repository root clean with only essential documentation: - PUBLISHING.md → scratch_files/PUBLISHING.md - PYPI_SETUP.md → scratch_files/PYPI_SETUP.md - TYPE_ANNOTATIONS.md → scratch_files/TYPE_ANNOTATIONS.md Keep in root: README.md, AGENTS.md, CLAUDE.md (essential project docs) Agent-generated and operational docs now live in scratch_files/
Resolve conflicts and apply documentation guidelines: - Combine dev dependencies from both branches (zuban + testing utils) - Remove duplicate TYPE_ANNOTATIONS.md from root (keep in scratch_files/) - Move TESTING.md and TESTING_PLAN.md to scratch_files/ per new guidelines - Include testing infrastructure from master: - New comprehensive Kalman filter tests - Testing utilities module for shared test helpers - Improved test coverage workflow - pytest configuration with conftest
- Fix batch_filter to handle None Bs parameter when us is provided - Fix MMAE __init__ to use default arrays instead of None for x and P - Add type narrowing assertion in plot_covariance_ellipse for ellipse parameter - Initialize fx, hx, and H attributes in ExtendedKalmanFilter class These changes resolve type checking errors identified by zuban type checker.
- Replace zuban with ty type checker in pyproject.toml - Update mypy configuration section to ty configuration with proper src/env settings - Add comprehensive type annotations to achieve full ty type compliance - gh_filter.py: Add type hints and k parameter validation for order 2 filters - hinfinity_filter.py: Add SaverProtocol and proper type annotations for batch_filter - fixed_lag_smoother.py: Add type hints and N parameter validation for smooth() - kalman_filter.py: Fix Bs parameter handling and F array conversion in predict() All 21 initial type diagnostics now resolved. ty check reports: "All checks passed!"
…instead of atleast_2d Replace the problematic 4-line atleast_2d() conversion that broke broadcasting when scalar F=1 was converted to shape (1,1) matrix. The original behavior using 0-D arrays allows NumPy dot products to correctly broadcast scalars across any dimensionality of x. Changed from: if isscalar(F): F = np.atleast_2d(np.asarray(F, dtype=float)) else: F = np.asarray(F) To: F = np.asarray(F, dtype=float) This single-line approach: - Preserves 0-D scalar arrays for correct broadcasting - Maintains type compliance (F is ndarray) - Simplifies code (1 line vs 4 lines) - Fixes regression in test_functions (scalar F with multi-dim x) Fixes #P0-scalar-F-regression
Remove GitHub fork metadata to present this as an independent project: - Remove 'fork' language from README, docs/index.md, and AGENTS.md - Remove 'About This Fork' section from docs/index.md - Remove 'Original Project' URL from pyproject.toml - Change AGENTS.md language from 'fork' to 'independent project' - Delete import-upstream-*.py scripts Preserve educational/historical context: - Keep references to original FilterPy library in docs - Keep book references (Kalman and Bayesian Filters in Python) - Keep links to original repository in resource sections - Maintain critical guidance in AGENTS.md about not submitting PRs upstream
Remove unnecessary return statements from test functions: - test_enkf.py::test_1d_const_vel: Remove 'return f' - test_mmae.py::test_MMAE2: Remove 'return bank' - test_ukf.py::test_linear_rts: Remove 'return ukf' Test functions should return None, not test objects. This resolves all 4 PytestReturnNotNoneWarning warnings. All 231 tests now pass cleanly with only the hypothesis pytest plugin warning remaining (unrelated).
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GeorgePearse
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