Stonesoup

Breaking changes
* Sensor performance improvement [\1084](https://github.com/dstl/Stone-Soup/pull/1084) ([sdhiscocks](https://github.com/sdhiscocks))
* If you have created a custom sensor by sub classing from `SimpleSensor` you will need to add `measurement_model` argument to the `is_detectable` method.
* Vectorise logpdf mod_angle calculations in angle based models [\1097](https://github.com/dstl/Stone-Soup/pull/1097) ([sdhiscocks](https://github.com/sdhiscocks))
* If you have created a custom model sub classing from one of the models in *stonesoup.models.measurement.nonlinear*, you may need to add a new static method `_typed_vector` returning a vector containing custom types used (e.g. `Bearing`) and rename your custom `function` method to `_function`.
* Various package updates [\1092](https://github.com/dstl/Stone-Soup/pull/1092) ([sdhiscocks](https://github.com/sdhiscocks))
* Python 3.8 support has been dropped. Please use Python 3.9 or greater.
Implemented enhancements
* Update Plotter Labels [\1071](https://github.com/dstl/Stone-Soup/pull/1071) ([gawebb-dstl](https://github.com/gawebb-dstl))
* Add CLEAR MOT `MetricGenerator` [\1068](https://github.com/dstl/Stone-Soup/pull/1068) ([kopytjuk](https://github.com/kopytjuk))
* Upgrade: more stable mean and covar evaluation of particle state update [\1083](https://github.com/dstl/Stone-Soup/pull/1083) ([A-acuto](https://github.com/A-acuto))
* Extend `MetricGenerator` interface with `generator_name` and add it to `ClearMotMetrics` [\1082](https://github.com/dstl/Stone-Soup/pull/1082) ([kopytjuk](https://github.com/kopytjuk))
* Particle filter proposal implementation [\1080](https://github.com/dstl/Stone-Soup/pull/1080) ([A-acuto](https://github.com/A-acuto))
* Addition of Efficient/Lagrangian Point-Mass Filter [\1052](https://github.com/dstl/Stone-Soup/pull/1052) ([pesslovany](https://github.com/pesslovany))
Fixed bugs
* Fix ASD with OOSM [\1075](https://github.com/dstl/Stone-Soup/pull/1075) ([sdhiscocks](https://github.com/sdhiscocks))
* Add init file for proposal class [\1091](https://github.com/dstl/Stone-Soup/pull/1091) ([A-acuto](https://github.com/A-acuto))
* Handle MFA infeasible primal problem [\1095](https://github.com/dstl/Stone-Soup/pull/1095) ([sdhiscocks](https://github.com/sdhiscocks))
Documentation updates
* Add cell tracking demo including optimisation of tracking parameters [\1069](https://github.com/dstl/Stone-Soup/pull/1069) ([nwitts-dstl](https://github.com/nwitts-dstl))
* Improve polar plotting example [\1078](https://github.com/dstl/Stone-Soup/pull/1078) ([csherman-dstl](https://github.com/csherman-dstl))
* Add actionable platform example [\1077](https://github.com/dstl/Stone-Soup/pull/1077) ([akenyon](https://github.com/akenyon))
* Add CLEAR MOT example [\1086](https://github.com/dstl/Stone-Soup/pull/1086) ([kopytjuk](https://github.com/kopytjuk))
Other changes
* Minor Improvements August 24 [\1074](https://github.com/dstl/Stone-Soup/pull/1074) ([gawebb-dstl](https://github.com/gawebb-dstl))
* Make passing measurements in distance hypothesiser optional [\1085](https://github.com/dstl/Stone-Soup/pull/1085) ([sdhiscocks](https://github.com/sdhiscocks))
* Don't set global random seed in tests [\1064](https://github.com/dstl/Stone-Soup/pull/1064) ([sdhiscocks](https://github.com/sdhiscocks))

New Contributors
* [nwitts-dstl](https://github.com/nwitts-dstl) made their first contribution in [\#1069](https://github.com/dstl/Stone-Soup/pull/1069)
* [pesslovany](https://github.com/pesslovany) made their first contribution in [\#1052](https://github.com/dstl/Stone-Soup/pull/1052)

Implemented enhancements
* CLEAR MOT Associator [\1017](https://github.com/dstl/Stone-Soup/pull/1017) ([kopytjuk](https://github.com/kopytjuk))
Fixed bugs
* Fix UncertaintyReward bug and improve ExpectedKLDivergence [\1066](https://github.com/dstl/Stone-Soup/pull/1066) ([timothy-glover](https://github.com/timothy-glover))
* Handle distance of 0 correctly in TrackToTruth associator [\1063](https://github.com/dstl/Stone-Soup/pull/1063) ([sdhiscocks](https://github.com/sdhiscocks))
Documentation updates
* Update AKKF tutorial [\1061](https://github.com/dstl/Stone-Soup/pull/1061) ([jswright-dstl](https://github.com/jswright-dstl))
Other changes
* GOSPAMetric: Avoid unnecessary copies and inefficient masking [\1059](https://github.com/dstl/Stone-Soup/pull/1059) ([marvonlar](https://github.com/marvonlar))
* Fix spelling and grammar issues [\1062](https://github.com/dstl/Stone-Soup/pull/1062) ([jswright-dstl](https://github.com/jswright-dstl))
* Fix plotting tests due to typo in warning message [\1065](https://github.com/dstl/Stone-Soup/pull/1065) ([sdhiscocks](https://github.com/sdhiscocks))

New Contributors
* [marvonlar](https://github.com/marvonlar) made their first contribution in [\#1059](https://github.com/dstl/Stone-Soup/pull/1059)
* [kopytjuk](https://github.com/kopytjuk) made their first contribution in [\#1017](https://github.com/dstl/Stone-Soup/pull/1017)

Implemented enhancements
* Add SMC-PHD components [\798](https://github.com/dstl/Stone-Soup/pull/798) ([sglvladi](https://github.com/sglvladi))
* Add SMC-PHD initiator implementation [\968](https://github.com/dstl/Stone-Soup/pull/968) ([sglvladi](https://github.com/sglvladi))
* Added TrackingStateSpaceDistanceGater [\973](https://github.com/dstl/Stone-Soup/pull/973) ([gawebb-dstl](https://github.com/gawebb-dstl))
* Progress Trackers Manually: Option E [\980](https://github.com/dstl/Stone-Soup/pull/980) ([gawebb-dstl](https://github.com/gawebb-dstl))
* Add logic to allow CompoundTimeRange to initiate with CompoundTimeRange [\993](https://github.com/dstl/Stone-Soup/pull/993) ([jswright-dstl](https://github.com/jswright-dstl))
* Add show_plot_traces method to plotly [\1004](https://github.com/dstl/Stone-Soup/pull/1004) ([csherman-dstl](https://github.com/csherman-dstl))
* Allow generation of predicted measurement without measurement noise [\1012](https://github.com/dstl/Stone-Soup/pull/1012) ([sdhiscocks](https://github.com/sdhiscocks))
* PDA Updater [\913](https://github.com/dstl/Stone-Soup/pull/913) ([jmbarr](https://github.com/jmbarr))
* Cubature Kalman Filter [\948](https://github.com/dstl/Stone-Soup/pull/948) ([jmbarr](https://github.com/jmbarr))
* Add axis labels for 1d plotting in Plotterly, add option to pass color to legend in Plotter.plot_ground_truths [\1019](https://github.com/dstl/Stone-Soup/pull/1019) ([jswright-dstl](https://github.com/jswright-dstl))
* Add Joseph form of covariance calculation to Kalman Updater [\1028](https://github.com/dstl/Stone-Soup/pull/1028) ([csherman-dstl](https://github.com/csherman-dstl))
* Added id property to Platform & property to create a GroundTruthPath from a Platform [\1026](https://github.com/dstl/Stone-Soup/pull/1026) ([gawebb-dstl](https://github.com/gawebb-dstl))
* Implementation of Loopy Belief Propagation (LBP) [\1022](https://github.com/dstl/Stone-Soup/pull/1022) ([marcelh71](https://github.com/marcelh71))
* Monte Carlo Tree Search Sensor Manager and Autonomous STE Examples [\1023](https://github.com/dstl/Stone-Soup/pull/1023) ([timothy-glover](https://github.com/timothy-glover))
* Update UncertaintyRewardFunction to return tracks and minor modifications [\1048](https://github.com/dstl/Stone-Soup/pull/1048) ([timothy-glover](https://github.com/timothy-glover))
* Set weakref to particle parent parent, rather than None [\1044](https://github.com/dstl/Stone-Soup/pull/1044) ([sdhiscocks](https://github.com/sdhiscocks))
* Use more efficient algorithm in GOSPA assignment [\1033](https://github.com/dstl/Stone-Soup/pull/1033) ([sdhiscocks](https://github.com/sdhiscocks))
* Adaptive kernel Kalman filter (AKKF) [\1014](https://github.com/dstl/Stone-Soup/pull/1014) ([jswright-dstl](https://github.com/jswright-dstl))
Fixed bugs
* Fixing GOSPA metric to work with ParticleState [\967](https://github.com/dstl/Stone-Soup/pull/967) ([ollie-digi2al](https://github.com/ollie-digi2al))
* Change ParticleState Length check in KLD measure for efficiency [\970](https://github.com/dstl/Stone-Soup/pull/970) ([timothy-glover](https://github.com/timothy-glover))
* Added Hash Functions to `TimeRange` and `CompoundTimeRange` [\981](https://github.com/dstl/Stone-Soup/pull/981) ([gawebb-dstl](https://github.com/gawebb-dstl))
* Fix issue with using un-resampled prior in regulariser [\978](https://github.com/dstl/Stone-Soup/pull/978) ([sdhiscocks](https://github.com/sdhiscocks))
* Remove hardcoded Metrics from MetricPlotter [\982](https://github.com/dstl/Stone-Soup/pull/982) ([jswright-dstl](https://github.com/jswright-dstl))
* Update Plotterly to name axes being plotted [\988](https://github.com/dstl/Stone-Soup/pull/988) ([jswright-dstl](https://github.com/jswright-dstl))
* Correct calculation of net orientation of PlatformMountables [\966](https://github.com/dstl/Stone-Soup/pull/966) ([edwheelhouse-dstl](https://github.com/edwheelhouse-dstl))
* Allow setting of colour to measurements and clutter in Plotterly [\990](https://github.com/dstl/Stone-Soup/pull/990) ([sdhiscocks](https://github.com/sdhiscocks))
* Change inv() usage to pinv() in ChernoffUpdater [\989](https://github.com/dstl/Stone-Soup/pull/989) ([jswright-dstl](https://github.com/jswright-dstl))
* Change usage of inv() in Mahalanobis to pinv() [\991](https://github.com/dstl/Stone-Soup/pull/991) ([jswright-dstl](https://github.com/jswright-dstl))
* Handle linalg error in gauss2sigma with Cholesky decomposition [\992](https://github.com/dstl/Stone-Soup/pull/992) ([sdhiscocks](https://github.com/sdhiscocks))
* Fixes to plotting/legends in AnimatedPlotterly [\997](https://github.com/dstl/Stone-Soup/pull/997) ([sdhiscocks](https://github.com/sdhiscocks))
* Fix documentation and covariance calculation for Constant Turn Transition Models [\1000](https://github.com/dstl/Stone-Soup/pull/1000) ([csherman-dstl](https://github.com/csherman-dstl))
* Use walrus operator to omit cases where no tracks exist in associations [\1021](https://github.com/dstl/Stone-Soup/pull/1021) ([jswright-dstl](https://github.com/jswright-dstl))
* Fix Inverse Function in CartesianToElevationBearingRangeRate [\1024](https://github.com/dstl/Stone-Soup/pull/1024) ([gawebb-dstl](https://github.com/gawebb-dstl))
* Fix incorrect generator kwargs with grid moveables [\1036](https://github.com/dstl/Stone-Soup/pull/1036) ([sdhiscocks](https://github.com/sdhiscocks))
* Fix CartesianToElevationBearingRangeRate inverse velocity and clutter plotting [\1037](https://github.com/dstl/Stone-Soup/pull/1037) ([gawebb-dstl](https://github.com/gawebb-dstl))
* Fix GaussianMixtureInitiator to use a MultiMeasurementInitiator [\1042](https://github.com/dstl/Stone-Soup/pull/1042) ([jswright-dstl](https://github.com/jswright-dstl))
* Minor deprecation fixes [\1045](https://github.com/dstl/Stone-Soup/pull/1045) ([sdhiscocks](https://github.com/sdhiscocks))
* Fix repr on Base class [\1049](https://github.com/dstl/Stone-Soup/pull/1049) ([sdhiscocks](https://github.com/sdhiscocks))
* Only use one track state per timestamp in (G)OSPA metric [\1056](https://github.com/dstl/Stone-Soup/pull/1056) ([sdhiscocks](https://github.com/sdhiscocks))
Documentation updates
* Add iterated module to documentation [\964](https://github.com/dstl/Stone-Soup/pull/964) ([spike-dstl](https://github.com/spike-dstl))
* Example of Ensemble Kalman filter with Out-Of-Sequence measurements [\915](https://github.com/dstl/Stone-Soup/pull/915) ([A-acuto](https://github.com/A-acuto))
* Adding an example showing inverse-time dynamics method to deal with OOSM [\940](https://github.com/dstl/Stone-Soup/pull/940) ([A-acuto](https://github.com/A-acuto))
* Adding an example showing how to deal with OOSM using a buffer of measurements [\939](https://github.com/dstl/Stone-Soup/pull/939) ([A-acuto](https://github.com/A-acuto))
* Adding an example showing Particle filter algorithm with OOSM [\965](https://github.com/dstl/Stone-Soup/pull/965) ([A-acuto](https://github.com/A-acuto))
* Example of data measurement fusion from two sensors, performance comparison [\862](https://github.com/dstl/Stone-Soup/pull/862) ([A-acuto](https://github.com/A-acuto))
* Adding an example comparing Particle filters and kalman filters using track fusion [\875](https://github.com/dstl/Stone-Soup/pull/875) ([A-acuto](https://github.com/A-acuto))
* Add 3D plotting example [\983](https://github.com/dstl/Stone-Soup/pull/983) ([mharris-dstl](https://github.com/mharris-dstl))
* Add repo CITATION file [\987](https://github.com/dstl/Stone-Soup/pull/987) ([sdhiscocks](https://github.com/sdhiscocks))
* Create subfolder structure for examples [\994](https://github.com/dstl/Stone-Soup/pull/994) ([sdhiscocks](https://github.com/sdhiscocks))
* Improve thumbnails in example gallery [\996](https://github.com/dstl/Stone-Soup/pull/996) ([sdhiscocks](https://github.com/sdhiscocks))
* Fixes for Sphinx 7.3 and sphinx-gallery 0.16 [\998](https://github.com/dstl/Stone-Soup/pull/998) ([sdhiscocks](https://github.com/sdhiscocks))
* Fix issue with nested sections TOC tree in documentation [\1003](https://github.com/dstl/Stone-Soup/pull/1003) ([sdhiscocks](https://github.com/sdhiscocks))
* Adding an example showing an explicit MHT application using MFA components [\954](https://github.com/dstl/Stone-Soup/pull/954) ([A-acuto](https://github.com/A-acuto))
* Adding an example of extended object tracking (EOT) [\969](https://github.com/dstl/Stone-Soup/pull/969) ([A-acuto](https://github.com/A-acuto))
* Add download link to OpenSky Demo CSV and full links to icons [\1051](https://github.com/dstl/Stone-Soup/pull/1051) ([sdhiscocks](https://github.com/sdhiscocks))
Other changes
* Suppress warnings with Sphinx config cache [\985](https://github.com/dstl/Stone-Soup/pull/985) ([sdhiscocks](https://github.com/sdhiscocks))
* Add type checking for model_list in CombinedGaussianTransitionModel [\1020](https://github.com/dstl/Stone-Soup/pull/1020) ([jswright-dstl](https://github.com/jswright-dstl))
* Update docs link GitHub workflow [\1005](https://github.com/dstl/Stone-Soup/pull/1005) ([sdhiscocks](https://github.com/sdhiscocks))
* Fix links to source code from docs "Edit on GitHub" links [\1034](https://github.com/dstl/Stone-Soup/pull/1034) ([sdhiscocks](https://github.com/sdhiscocks))
* Update docs link action to new name [\1038](https://github.com/dstl/Stone-Soup/pull/1038) ([sdhiscocks](https://github.com/sdhiscocks))
* Include slow tests on CircleCI [\1047](https://github.com/dstl/Stone-Soup/pull/1047) ([sdhiscocks](https://github.com/sdhiscocks))
* Fix failing test for AKKF proposal multivariate sampling to compare mean of particle state [\1057](https://github.com/dstl/Stone-Soup/pull/1057) ([jswright-dstl](https://github.com/jswright-dstl))

New Contributors
* [ollie-digi2al](https://github.com/ollie-digi2al) made their first contribution in [\#967](https://github.com/dstl/Stone-Soup/pull/967)
* [marcelh71](https://github.com/marcelh71) made their first contribution in [\#1022](https://github.com/dstl/Stone-Soup/pull/1022)

<!-- Release notes generated using configuration in .github/release.yml at main -->

What's Changed
Breaking changes
* Change how sensor parameters are passed to action generators by nperree-dstl in https://github.com/dstl/Stone-Soup/pull/901
* *ActionableProperty* has a `generator_kwargs_mapping` dictionary to map properties of the *ActionGenerator* to properties of the *Sensor*, allowing them to be set via the sensor. This means the previous method for setting resolutions has been modified to use this.
* Fix: for *RadarRotatingBearingRange*, set `resolution=resolution_value` instead of `resolutions=dict()`
* When creating a new sensor with an *ActionableProperty*, use the `generator_kwargs_mapping` to map sensor properties to *ActionGenerator* properties where required.

* Sensor management with actionable movables by akenyon in https://github.com/dstl/Stone-Soup/pull/943
* Sensor managers now take a set of sensors and a set of platforms so positional arguments order has changed
* Fix: set `reward_function` using kwargs (e.g. `reward_function=…`)
* Import locations have changed for the base classes *Action*, *ActionGenerator*, *Actionable* and *ActionableProperty*.
* Fix: import all from new location, `stonesoup.sensormanager.action`


Implemented enhancements
* Add metric MultiManager and MetricPlotter by rcgorman-dstl in https://github.com/dstl/Stone-Soup/pull/811
* Introduce ability to constrain particle states in ParticleUpdater and MCMCRegulariser by timothy-glover in https://github.com/dstl/Stone-Soup/pull/855
* Bool to return reward for BruteForce and Optimise sensor managers by asaunders-dstl in https://github.com/dstl/Stone-Soup/pull/851
* Resampling dependant regularisation in ParticleUpdater by timothy-glover in https://github.com/dstl/Stone-Soup/pull/869
* Minor Addition and Changes to MultiMeasurementInitiator by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/835
* Adding greedy sensor manager by akenyon in https://github.com/dstl/Stone-Soup/pull/874
* Add GaussianMixtureInitiator, ASDGaussianInitiator and EnsembleInitiator by csherman-dstl in https://github.com/dstl/Stone-Soup/pull/873
* Function to linearly interpolate state mutable sequences by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/872
* Update Animated Plotter Example by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/857
* Introduce Kullback-Leibler Divegence measure and reward function by timothy-glover in https://github.com/dstl/Stone-Soup/pull/868
* New Recursive updaters added by spike-dstl in https://github.com/dstl/Stone-Soup/pull/859
* Polar Plotting by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/796
* One to One Track Association by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/624
* Azimuth elevation range model by Carlson-J in https://github.com/dstl/Stone-Soup/pull/880
* Introduce grid based action generators and actionable movable classes by timothy-glover in https://github.com/dstl/Stone-Soup/pull/892
* Create IsotropicPlume model and gas sensor by timothy-glover in https://github.com/dstl/Stone-Soup/pull/850
* Adapted the square root components by jmbarr in https://github.com/dstl/Stone-Soup/pull/916
* Shorten sensor management tutorials' simulation length by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/918
* Adding setting title functionality to AnimationPlotter by jswright-dstl in https://github.com/dstl/Stone-Soup/pull/919
* Add convert measurement parameter to TwoDPlotter by jswright-dstl in https://github.com/dstl/Stone-Soup/pull/909
* Added the switching term to GOSPA. by Carlson-J in https://github.com/dstl/Stone-Soup/pull/898
* Add support for Python 3.12 by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/925
* Simplify (or at least make more standard) control models by jmbarr in https://github.com/dstl/Stone-Soup/pull/927
* Tidy plotter initialisation and remove rectangle zoom restriction. by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/934
* Dynamically Iterated EKF by spike-dstl in https://github.com/dstl/Stone-Soup/pull/891
* Add 3D plotting option to Plotterly by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/932
* Error-Controller BRUF and Variable-Step BRUF by spike-dstl in https://github.com/dstl/Stone-Soup/pull/914
Fixed bugs
* Corrected update equation in Kalman tutorial by jmbarr in https://github.com/dstl/Stone-Soup/pull/866
* Add conv measurements option to AnimatedPlotterly by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/856
* Fix track to track associations type by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/870
* Change return type and add track ID metadata to Track2GaussianDetectionFeeder by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/871
* Fix to RecursiveEnsembleUpdater by spike-dstl in https://github.com/dstl/Stone-Soup/pull/885
* Correct UKF kappa default to match documentation by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/905
* Modify Ensemble state generation and initiator test thresholds by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/902
* Change StatePrediction and StateUpdate by jswright-dstl in https://github.com/dstl/Stone-Soup/pull/906
* Fix bug in GridActionGenerator by nperree-dstl in https://github.com/dstl/Stone-Soup/pull/917
* Fix error handling for 3d in Plotterly and add tests by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/931
* Fix plugins for latest versions of Python by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/956
* Fix incorrect transition model being used in Kalman Smoothers by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/945
* Fix calculation of cross-covariance in unscented_transform sglvladi in https://github.com/dstl/Stone-Soup/pull/963
* Fixing bug which causes multiplication by Probability to return a Probability jmbarr in https://github.com/dstl/Stone-Soup/pull/912
Documentation updates
* Remove plot style in GMPHD tutorial to fix docs build by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/867
* Improve example documentation by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/840
* Example of Bearing-only tracking by A-acuto in https://github.com/dstl/Stone-Soup/pull/823
* Modify track fusion example to use tee and plot longest track by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/882
* Update copyright year by jswright-dstl in https://github.com/dstl/Stone-Soup/pull/920
* Make sensor management tutorials flake-8 compliant by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/926
* Make Metrics Example Flake8 Compliant by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/928
* Reinforcement Learning Sensor Manager Example by sgboakes in https://github.com/dstl/Stone-Soup/pull/886
* change reference to correct one by avcuenes in https://github.com/dstl/Stone-Soup/pull/938
* Correct deleter property documentation by jswright-dstl in https://github.com/dstl/Stone-Soup/pull/950
* Add an example showing performance differences between JPDA and EHM by A-acuto in https://github.com/dstl/Stone-Soup/pull/861
* Fix unused variable in Comparing Multiple Trackers example by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/959
Other changes
* change unequal timesteps in animated plotter from error to warning by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/904
* Move sphinx gallery line in tutorial 10 by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/924
* NumPy 2 compatibility by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/929
* Ignore Sphinx Gallery execution times file by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/947
* Avoid test collection failure with optional dependency astropy by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/955
* Add pyehm plugin as optional tests by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/957
* Added Version Requirement for Plotly by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/958
* Add GitHub release notes config by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/960

New Contributors
* asaunders-dstl made their first contribution in https://github.com/dstl/Stone-Soup/pull/851
* akenyon made their first contribution in https://github.com/dstl/Stone-Soup/pull/874
* csherman-dstl made their first contribution in https://github.com/dstl/Stone-Soup/pull/873
* Carlson-J made their first contribution in https://github.com/dstl/Stone-Soup/pull/880
* avcuenes made their first contribution in https://github.com/dstl/Stone-Soup/pull/938

**Full Changelog**: https://github.com/dstl/Stone-Soup/compare/v1.1...v1.2

**Implemented enhancements:**

* Bernoulli Particle Filter by timothy-glover in https://github.com/dstl/Stone-Soup/pull/815
* New resampling methods and example by spike-dstl in https://github.com/dstl/Stone-Soup/pull/817
* Add a SingleTargetMixtureTracker by A-acuto in https://github.com/dstl/Stone-Soup/pull/825
* Kafka readers and writers by sglvladi in https://github.com/dstl/Stone-Soup/pull/799
* One to one Assignment for Association by orosoman-dstl in https://github.com/dstl/Stone-Soup/pull/664
* Add Mapping to plot_sensors. Hide plotting elements in Plotterly by gawebb-dstl in https://github.com/dstl/Stone-Soup/pull/836

**Fixed bugs:**

* Handle case of no tracks with MFA by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/814
* Add LRU cache to Updater predict measurement methods by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/826
* Fix edge case with mod elevation for 2π by jmbarr in https://github.com/dstl/Stone-Soup/pull/828
* Fix recursion error when printing objects by sglvladi in https://github.com/dstl/Stone-Soup/pull/832
* Fix bug in BaseRepr.whitespace_remove() walrus expression by sglvladi in https://github.com/dstl/Stone-Soup/pull/839
* Fix ellipse plot by mharris-dstl in https://github.com/dstl/Stone-Soup/pull/843
* Regulariser amendment and implementation in ParticleUpdater by timothy-glover in https://github.com/dstl/Stone-Soup/pull/830
* Fix non linear constant turn transition model by orosoman-dstl in https://github.com/dstl/Stone-Soup/pull/844

**Documentation updates:**

* Plot FOV on Sensor Management tutorials by nperree-dstl in https://github.com/dstl/Stone-Soup/pull/816
* Set minimum version for sphinx_rtd_theme by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/833
* Change plot in Resampler Tutorial to display correct CDF by spike-dstl in https://github.com/dstl/Stone-Soup/pull/834

**Other changes:**

* Fix issue with failing YAML serialisation tests by sdhiscocks in https://github.com/dstl/Stone-Soup/pull/810

**Breaking changes:**

- Drop Python 3.7 support, and remove references to beta [\808](https://github.com/dstl/Stone-Soup/pull/808) ([sdhiscocks](https://github.com/sdhiscocks))
- New minimum Python version 3.8

**Implemented enhancements:**

- Plotting Improvements [\795](https://github.com/dstl/Stone-Soup/pull/795) ([gawebb-dstl](https://github.com/gawebb-dstl))
- Add a Schmidt-Kalman version of the Kalman Updater [\794](https://github.com/dstl/Stone-Soup/pull/794) ([jmbarr](https://github.com/jmbarr))
- Add log weight property to Particle State [\791](https://github.com/dstl/Stone-Soup/pull/791) ([sdhiscocks](https://github.com/sdhiscocks))
- Add animated variation of plotterly [\789](https://github.com/dstl/Stone-Soup/pull/789) ([mharris-dstl](https://github.com/mharris-dstl))
- Modify SystematicResampler to enable down/upsampling [\786](https://github.com/dstl/Stone-Soup/pull/786) ([timothy-glover](https://github.com/timothy-glover))
- Create regulariser object and MCMC particle regulariser [\785](https://github.com/dstl/Stone-Soup/pull/785) ([timothy-glover](https://github.com/timothy-glover))
- Created RadarBearing and RadarRotatingBearing Sensors [\778](https://github.com/dstl/Stone-Soup/pull/778) ([timothy-glover](https://github.com/timothy-glover))
- add k-d tree tutorial and update tree sub-module [\771](https://github.com/dstl/Stone-Soup/pull/771) ([rcgorman-dstl](https://github.com/rcgorman-dstl))
- Add track stitching class and example. [\764](https://github.com/dstl/Stone-Soup/pull/764) ([spike-dstl](https://github.com/spike-dstl))
- Added an example within the documentation for custom readers supporting pandas DataFrames. [\707](https://github.com/dstl/Stone-Soup/pull/707) ([BenjaminFraser](https://github.com/BenjaminFraser))

**Fixed bugs:**

- Enable Forward Declaration of Type Hints for Properties [\806](https://github.com/dstl/Stone-Soup/pull/806) ([orosoman-dstl](https://github.com/orosoman-dstl))
- Fix np.mean for StateVectors [\788](https://github.com/dstl/Stone-Soup/pull/788) ([sdhiscocks](https://github.com/sdhiscocks))
- Add is\_clutter\_detectable method to sensors [\787](https://github.com/dstl/Stone-Soup/pull/787) ([jswright-dstl](https://github.com/jswright-dstl))
- Cast noise\_covar value to a CovarianceMatrix when initialising a MeasurementModel [\775](https://github.com/dstl/Stone-Soup/pull/775) ([gawebb-dstl](https://github.com/gawebb-dstl))

**Documentation updates:**

- Fix issue with kD-tree example not building [\807](https://github.com/dstl/Stone-Soup/pull/807) ([sdhiscocks](https://github.com/sdhiscocks))
- Change track stitching example initiator [\804](https://github.com/dstl/Stone-Soup/pull/804) ([sdhiscocks](https://github.com/sdhiscocks))
- Add multi\_tracker\_example [\790](https://github.com/dstl/Stone-Soup/pull/790) ([mharris-dstl](https://github.com/mharris-dstl))

**Other changes:**

- Create sampler module and gaussian mixture sampling function [\793](https://github.com/dstl/Stone-Soup/pull/793) ([timothy-glover](https://github.com/timothy-glover))
- Use temporary file for FITS Reader tests [\777](https://github.com/dstl/Stone-Soup/pull/777) ([sdhiscocks](https://github.com/sdhiscocks))
- Implement multi-frame assignment algorithm [\568](https://github.com/dstl/Stone-Soup/pull/568) ([joldf](https://github.com/joldf))