Stonesoup

**Breaking changes:**

- Refactor platforms and sensors to remove weakrefs [\427](https://github.com/dstl/Stone-Soup/pull/427) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- The way platforms and sensors are linked have changed. Properties like `rotation_offset` and `mounting_offset` are now part of the sensor, rather than being provided when adding the sensor to a platform.

**Implemented enhancements:**

- Multimap measures [\445](https://github.com/dstl/Stone-Soup/pull/445) ([idorrington-dstl](https://github.com/idorrington-dstl))
- User random seeds [\444](https://github.com/dstl/Stone-Soup/pull/444) ([idorrington-dstl](https://github.com/idorrington-dstl))
- Speed up track to truth associator by avoiding searching of all times [\431](https://github.com/dstl/Stone-Soup/pull/431) ([sdhiscocks](https://github.com/sdhiscocks))
- Plotter group measurements/clutter into single plot call [\430](https://github.com/dstl/Stone-Soup/pull/430) ([sdhiscocks](https://github.com/sdhiscocks))
- Alpha-Beta updater [\398](https://github.com/dstl/Stone-Soup/pull/398) ([jmbarr](https://github.com/jmbarr))
- Add tree data structures for gating [\145](https://github.com/dstl/Stone-Soup/pull/145) ([sdhiscocks](https://github.com/sdhiscocks))
- Create OpenSky Network REST API Reader [\120](https://github.com/dstl/Stone-Soup/pull/120) ([sdhiscocks](https://github.com/sdhiscocks))

**Fixed bugs:**

- Fix Weighted Gaussian Prediction to inherit from correct parent [\447](https://github.com/dstl/Stone-Soup/pull/447) ([sdhiscocks](https://github.com/sdhiscocks))
- Fixing timestamps for the video reader [\437](https://github.com/dstl/Stone-Soup/pull/437) ([idorrington-dstl](https://github.com/idorrington-dstl))
- Add mapping to Combined Measurement Model [\429](https://github.com/dstl/Stone-Soup/pull/429) ([sdhiscocks](https://github.com/sdhiscocks))

**Documentation updates:**

- Fix documentation build caused by type hints [\442](https://github.com/dstl/Stone-Soup/pull/442) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix missing thumbnails in sphinx gallery examples [\440](https://github.com/dstl/Stone-Soup/pull/440) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix UAV demonstration sensor parameters [\439](https://github.com/dstl/Stone-Soup/pull/439) ([sdhiscocks](https://github.com/sdhiscocks))
- Add DOI badge to README [\434](https://github.com/dstl/Stone-Soup/pull/434) ([sdhiscocks](https://github.com/sdhiscocks))

**Breaking changes:**

- Add option to delete posterior predictions from deleted tracks [\417](https://github.com/dstl/Stone-Soup/pull/417) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- This change may cause issues with optional arguments on deleters, requiring that keyword is included in initialisation arguments.
- Include timestamp with Initiator and allow predictions with multi measurement initiator [\406](https://github.com/dstl/Stone-Soup/pull/406) ([sdhiscocks](https://github.com/sdhiscocks))
- Any custom initiators or calls to existing initiators should be updated to include a timestamp argument.

**Implemented enhancements:**

- Add mapping to CovarianceBasedDeleter [\416](https://github.com/dstl/Stone-Soup/pull/416) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Modify AssociationSet types to have a set-like interface [\405](https://github.com/dstl/Stone-Soup/pull/405) ([oharrald-Dstl](https://github.com/oharrald-Dstl))

**Fixed bugs:**

- Fix gm\_reduce\_single. [\426](https://github.com/dstl/Stone-Soup/pull/426) ([DaveKirkland](https://github.com/DaveKirkland))
- Match colours of ellipses, and fix mappings with track uncertainty in Plotter [\422](https://github.com/dstl/Stone-Soup/pull/422) ([sdhiscocks](https://github.com/sdhiscocks))
- Ensure registered subclasses are in parent subclasses list [\407](https://github.com/dstl/Stone-Soup/pull/407) ([sdhiscocks](https://github.com/sdhiscocks))

**Documentation updates:**

- Add type annotations to base classes, and shorten type hints in documentation [\413](https://github.com/dstl/Stone-Soup/pull/413) ([sdhiscocks](https://github.com/sdhiscocks))
- Add type hints and update documentation on Models [\412](https://github.com/dstl/Stone-Soup/pull/412) ([sdhiscocks](https://github.com/sdhiscocks))
- Add deleter and initiator base class type hints and minor doc changes [\410](https://github.com/dstl/Stone-Soup/pull/410) ([sdhiscocks](https://github.com/sdhiscocks))
- Add DataAssociator and Hypothesiser type hints, and passthrough kwargs [\409](https://github.com/dstl/Stone-Soup/pull/409) ([sdhiscocks](https://github.com/sdhiscocks))
- Sensor and platform minor documentation changes [\408](https://github.com/dstl/Stone-Soup/pull/408) ([sdhiscocks](https://github.com/sdhiscocks))
- Add conda installation instructions and PyPI/Conda-Forge badges [\402](https://github.com/dstl/Stone-Soup/pull/402) ([sdhiscocks](https://github.com/sdhiscocks))
- Update copyright/license year. [\395](https://github.com/dstl/Stone-Soup/pull/395) ([jswright-dstl](https://github.com/jswright-dstl))

**Other changes:**

- Plotter with track labels [\394](https://github.com/dstl/Stone-Soup/pull/394) ([jmbarr](https://github.com/jmbarr))

---
**NOTE (for developers)**

Post this release, the `master` branch will be renamed `main`. Please [see these instructions](https://docs.github.com/en/github/administering-a-repository/renaming-a-branch#updating-a-local-clone-after-a-branch-name-changes) about renaming your local branch and updating the upstream branch name.

---

**Breaking changes:**

- Kalman smoother [\378](https://github.com/dstl/Stone-Soup/pull/378) ([jmbarr](https://github.com/jmbarr))
- The Smoother classes have been changed completly, to have similar structure to predictors/updaters. The existing Kalman based smoother `stonesoup.smoother.lineargaussian.Backward` has been replaced by `stonesoup.smoother.kalman.KalmanSmoother`, and two new Kalman based smoothers, `ExtendedKalmanSmoother` and `UnscentedKalmanSmoother`, have been added.
- Data Associator Class modifications [\368](https://github.com/dstl/Stone-Soup/pull/368) ([sdhiscocks](https://github.com/sdhiscocks))
- Renamed argument `time` to `timestamp` on `DataAssociator.associate()` methods.
- Vectorise particle filter [\365](https://github.com/dstl/Stone-Soup/pull/365) ([idorrington-dstl](https://github.com/idorrington-dstl))
- Models have changed to support vectorised calculations. Future models should support vectorised calculations. This can be as simple as iterating of the individual particles, and joining the end result, but this will have a performance penalty.
- The `ParticleState.particles` attribute is now a `Particles` instance. `Particles` is list like, so shouldn't break existing code expecting a list of `Particle` objects.
- AESA Radar and Beam Shape beam power method argument changes [\361](https://github.com/dstl/Stone-Soup/pull/361) ([sdhiscocks](https://github.com/sdhiscocks))
- `beam_width` is no longer a property of `BeamShape`, but an argument to `BeamShape.beam_power()` method.

**Implemented enhancements:**

- Fix plotter metric so it uses Stone Soup Plotter class [\382](https://github.com/dstl/Stone-Soup/pull/382) ([nperree-dstl](https://github.com/nperree-dstl))
- Add support for plugins [\375](https://github.com/dstl/Stone-Soup/pull/375) ([svidal-dstl](https://github.com/svidal-dstl))
- Adding link to TransitionModel in the Prediction [\374](https://github.com/dstl/Stone-Soup/pull/374) ([jmbarr](https://github.com/jmbarr))
- Add ID based associator [\366](https://github.com/dstl/Stone-Soup/pull/366) ([nperree-dstl](https://github.com/nperree-dstl))
- Orbitalstate [\278](https://github.com/dstl/Stone-Soup/pull/278) ([jmbarr](https://github.com/jmbarr))
- Add Gromov Particle Flow Updater [\132](https://github.com/dstl/Stone-Soup/pull/132) ([sdhiscocks](https://github.com/sdhiscocks))

**Fixed bugs:**

- Fix CartesianToBearingRange inverse\_function for 3D state space. [\393](https://github.com/dstl/Stone-Soup/pull/393) ([svidal-dstl](https://github.com/svidal-dstl))
- Fix Measures to work with tuple mapping type [\391](https://github.com/dstl/Stone-Soup/pull/391) ([sdhiscocks](https://github.com/sdhiscocks))
- Various test fixes for print statements, floating point errors and divide by zero warnings [\383](https://github.com/dstl/Stone-Soup/pull/383) ([sdhiscocks](https://github.com/sdhiscocks))

**Documentation updates:**

- Fix Particle Flow example due to metric name change [\385](https://github.com/dstl/Stone-Soup/pull/385) ([sdhiscocks](https://github.com/sdhiscocks))
- Change time-based SIAP titles [\384](https://github.com/dstl/Stone-Soup/pull/384) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- SIAP text [\381](https://github.com/dstl/Stone-Soup/pull/381) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Fix Edit on GitHub links on documentation. [\380](https://github.com/dstl/Stone-Soup/pull/380) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix animation control layout in Sphinx-Gallery examples [\373](https://github.com/dstl/Stone-Soup/pull/373) ([sdhiscocks](https://github.com/sdhiscocks))
- Minor edits for 01 Tutorial [\372](https://github.com/dstl/Stone-Soup/pull/372) ([bradh](https://github.com/bradh))
- Update Contributing documentation [\370](https://github.com/dstl/Stone-Soup/pull/370) ([sdhiscocks](https://github.com/sdhiscocks))

**Other changes:**

- Prevent StateMutableSequence from swallowing custom errors [\392](https://github.com/dstl/Stone-Soup/pull/392) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Handle warning raised on 2D plotter metric test [\390](https://github.com/dstl/Stone-Soup/pull/390) ([sdhiscocks](https://github.com/sdhiscocks))
- Increase tolerance on particle updater test [\389](https://github.com/dstl/Stone-Soup/pull/389) ([sdhiscocks](https://github.com/sdhiscocks))
- Update StateMutableSequence error handling [\386](https://github.com/dstl/Stone-Soup/pull/386) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Add GitHub related files for reviewers and actions [\376](https://github.com/dstl/Stone-Soup/pull/376) ([sdhiscocks](https://github.com/sdhiscocks))
- Move functions and orbital functions to sub-module [\367](https://github.com/dstl/Stone-Soup/pull/367) ([sdhiscocks](https://github.com/sdhiscocks))

**Breaking changes:**

- Modify metric manager add\_data method to have separate kwargs [\342](https://github.com/dstl/Stone-Soup/pull/342) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- `SimpleManager.add_data()` now expects groundtruth paths, tracks and detections as explicit arguments rather than single container `input_objects` with sub containers.

**Implemented enhancements:**

- Add Uncertainty Metric [\355](https://github.com/dstl/Stone-Soup/pull/355) ([nperree-dstl](https://github.com/nperree-dstl))
- Modify ID SIAPs to consider track metadata at timestamps [\352](https://github.com/dstl/Stone-Soup/pull/352) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add plotting class and update tutorials [\338](https://github.com/dstl/Stone-Soup/pull/338) ([nperree-dstl](https://github.com/nperree-dstl))
- Add TensorNets based detector and modify FFmpeg Reader [\331](https://github.com/dstl/Stone-Soup/pull/331) ([sdhiscocks](https://github.com/sdhiscocks))
- Modify tracks to store metadata history [\328](https://github.com/dstl/Stone-Soup/pull/328) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add closed continuous \(real\) interval type [\318](https://github.com/dstl/Stone-Soup/pull/318) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Range velocity binning [\246](https://github.com/dstl/Stone-Soup/pull/246) ([jjosborne-dstl](https://github.com/jjosborne-dstl))

**Fixed bugs:**

- Add abstractmethod decorator to Radar Beam Pattern/Shape [\360](https://github.com/dstl/Stone-Soup/pull/360) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix issue with version, effecting pip install with Read The Docs [\348](https://github.com/dstl/Stone-Soup/pull/348) ([sdhiscocks](https://github.com/sdhiscocks))
- Modify gaussian models to raise errors with None covariances [\346](https://github.com/dstl/Stone-Soup/pull/346) ([oharrald-Dstl](https://github.com/oharrald-Dstl))

**Documentation updates:**

- Close figures when finished processing file in Sphinx Gallery [\362](https://github.com/dstl/Stone-Soup/pull/362) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Binder support for notebooks hosted on Read the Docs [\357](https://github.com/dstl/Stone-Soup/pull/357) ([sdhiscocks](https://github.com/sdhiscocks))
- Remove tutorial pyplot imports and fix flake8 errors [\350](https://github.com/dstl/Stone-Soup/pull/350) ([oharrald-Dstl](https://github.com/oharrald-Dstl))

**Breaking changes:**
This latest release has numerous breaking changes from the previous _beta_ release. Going forward, new _beta_ releases will include notes on breaking changes.

**Implemented enhancements:**

- Add handling of various prior types predictors/updater [\329](https://github.com/dstl/Stone-Soup/pull/329) ([sdhiscocks](https://github.com/sdhiscocks))
- Modify sensors to return sets of TrueDetection types [\322](https://github.com/dstl/Stone-Soup/pull/322) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add Additional SIAPs [\321](https://github.com/dstl/Stone-Soup/pull/321) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add GaussianState initialization to WeightedGaussianState. [\320](https://github.com/dstl/Stone-Soup/pull/320) ([DaveKirkland](https://github.com/DaveKirkland))
- Add CombinedNonlinearGaussianTransitionModel [\292](https://github.com/dstl/Stone-Soup/pull/292) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add smooth transition model maker [\289](https://github.com/dstl/Stone-Soup/pull/289) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Iterated Kalman updater [\288](https://github.com/dstl/Stone-Soup/pull/288) ([jmbarr](https://github.com/jmbarr))
- TensorFlow Detector Update [\284](https://github.com/dstl/Stone-Soup/pull/284) ([sglvladi](https://github.com/sglvladi))
- Sensor-Measurement model consistency change [\253](https://github.com/dstl/Stone-Soup/pull/253) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Modify sensors to measure sets of ground truth states [\240](https://github.com/dstl/Stone-Soup/pull/240) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add bearing-only measurement model [\234](https://github.com/dstl/Stone-Soup/pull/234) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Sqrt kalma filter [\223](https://github.com/dstl/Stone-Soup/pull/223) ([jmbarr](https://github.com/jmbarr))
- Modify Angle type average to use numpy.sum\(\) [\222](https://github.com/dstl/Stone-Soup/pull/222) ([sdhiscocks](https://github.com/sdhiscocks))
- Platform state mutable [\220](https://github.com/dstl/Stone-Soup/pull/220) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Cast array type of StateVector when slicing [\219](https://github.com/dstl/Stone-Soup/pull/219) ([sdhiscocks](https://github.com/sdhiscocks))
- Added MultiTransitionMovingPlatform class [\218](https://github.com/dstl/Stone-Soup/pull/218) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add Gater classes [\216](https://github.com/dstl/Stone-Soup/pull/216) ([sglvladi](https://github.com/sglvladi))
- Change Property to use type hints and drop Python 3.5 support [\212](https://github.com/dstl/Stone-Soup/pull/212) ([sdhiscocks](https://github.com/sdhiscocks))
- Range rate radar extension [\208](https://github.com/dstl/Stone-Soup/pull/208) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Add StateVectors type and modify array handling [\204](https://github.com/dstl/Stone-Soup/pull/204) ([sdhiscocks](https://github.com/sdhiscocks))
- Allowed for generic data input to appropriate detection feeders [\203](https://github.com/dstl/Stone-Soup/pull/203) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Simplify SimplePDA [\202](https://github.com/dstl/Stone-Soup/pull/202) ([sglvladi](https://github.com/sglvladi))
- Added multi-deleter methods [\200](https://github.com/dstl/Stone-Soup/pull/200) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add support for numpy int and float types to serialise [\190](https://github.com/dstl/Stone-Soup/pull/190) ([sdhiscocks](https://github.com/sdhiscocks))
- Added StatesLengthLimiter [\189](https://github.com/dstl/Stone-Soup/pull/189) ([sjablett-dstl](https://github.com/sjablett-dstl))
- Modify detection and ground truth CSV readers [\188](https://github.com/dstl/Stone-Soup/pull/188) ([sdhiscocks](https://github.com/sdhiscocks))
- Change StateVector indexing [\187](https://github.com/dstl/Stone-Soup/pull/187) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Add TensorFlow detector [\184](https://github.com/dstl/Stone-Soup/pull/184) ([sglvladi](https://github.com/sglvladi))
- Added platform detection simulators. [\182](https://github.com/dstl/Stone-Soup/pull/182) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add reader video dependencies to mock imports for documentation [\181](https://github.com/dstl/Stone-Soup/pull/181) ([sdhiscocks](https://github.com/sdhiscocks))
- Update to platform to allow it to control the positions of its sensors [\177](https://github.com/dstl/Stone-Soup/pull/177) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Add ID to Ground Truth Paths [\174](https://github.com/dstl/Stone-Soup/pull/174) ([sdhiscocks](https://github.com/sdhiscocks))
- Updated models so function does not add noise by default [\173](https://github.com/dstl/Stone-Soup/pull/173) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Enable smoother to extract estimates from track [\172](https://github.com/dstl/Stone-Soup/pull/172) ([sdhiscocks](https://github.com/sdhiscocks))
- Speed up GNNWith2DAssignment [\169](https://github.com/dstl/Stone-Soup/pull/169) ([sglvladi](https://github.com/sglvladi))
- Added Longitude and Latitude types [\168](https://github.com/dstl/Stone-Soup/pull/168) ([sglvladi](https://github.com/sglvladi))
- Property extensions [\167](https://github.com/dstl/Stone-Soup/pull/167) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Increase allowed line length [\166](https://github.com/dstl/Stone-Soup/pull/166) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Modify SinglePointInitiator to work with non-linear models [\163](https://github.com/dstl/Stone-Soup/pull/163) ([sdhiscocks](https://github.com/sdhiscocks))
- Avoid calculating measurement prediction for missed detections [\162](https://github.com/dstl/Stone-Soup/pull/162) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Multi-detector Feeder class [\151](https://github.com/dstl/Stone-Soup/pull/151) ([sdhiscocks](https://github.com/sdhiscocks))
- Video processing classes [\150](https://github.com/dstl/Stone-Soup/pull/150) ([sglvladi](https://github.com/sglvladi))
- Passive sensor [\147](https://github.com/dstl/Stone-Soup/pull/147) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Add a combined non-linear Gaussian measurement model [\146](https://github.com/dstl/Stone-Soup/pull/146) ([sdhiscocks](https://github.com/sdhiscocks))
- Add multi-dimension delta to Jacobian function [\143](https://github.com/dstl/Stone-Soup/pull/143) ([sdhiscocks](https://github.com/sdhiscocks))
- Move all rvs and pdf methods to GaussianModel class [\141](https://github.com/dstl/Stone-Soup/pull/141) ([sdhiscocks](https://github.com/sdhiscocks))
- SIAP metric output table with red and green visual [\139](https://github.com/dstl/Stone-Soup/pull/139) ([lflaherty-dstl](https://github.com/lflaherty-dstl))
- Update components to use buffered generator [\137](https://github.com/dstl/Stone-Soup/pull/137) ([sdhiscocks](https://github.com/sdhiscocks))
- Constant turn sandwich [\136](https://github.com/dstl/Stone-Soup/pull/136) ([snaylor20](https://github.com/snaylor20))
- Ground truth reader [\135](https://github.com/dstl/Stone-Soup/pull/135) ([lflaherty-dstl](https://github.com/lflaherty-dstl))
- Adds a variety of switching simulators. [\134](https://github.com/dstl/Stone-Soup/pull/134) ([snaylor20](https://github.com/snaylor20))
- Nth Derivative Decay [\133](https://github.com/dstl/Stone-Soup/pull/133) ([snaylor20](https://github.com/snaylor20))
- add multi meas initiator & non linear w tests [\128](https://github.com/dstl/Stone-Soup/pull/128) ([lflaherty-dstl](https://github.com/lflaherty-dstl))
- Add 2d assignment alg + new gnn [\126](https://github.com/dstl/Stone-Soup/pull/126) ([lflaherty-dstl](https://github.com/lflaherty-dstl))
- Add inverse bearing function &reverse method names [\125](https://github.com/dstl/Stone-Soup/pull/125) ([lflaherty-dstl](https://github.com/lflaherty-dstl))
- Track metadata handling update [\121](https://github.com/dstl/Stone-Soup/pull/121) ([sglvladi](https://github.com/sglvladi))
- Feeder Modifications [\117](https://github.com/dstl/Stone-Soup/pull/117) ([sdhiscocks](https://github.com/sdhiscocks))
- Buffered generator [\116](https://github.com/dstl/Stone-Soup/pull/116) ([dcrew-dstl](https://github.com/dcrew-dstl))
- Expand csv reader [\115](https://github.com/dstl/Stone-Soup/pull/115) ([dcrew-dstl](https://github.com/dcrew-dstl))
- DistanceHypothesiser gate out hypotheses greater than missed distance [\114](https://github.com/dstl/Stone-Soup/pull/114) ([sdhiscocks](https://github.com/sdhiscocks))
- Nth Derivative model [\112](https://github.com/dstl/Stone-Soup/pull/112) ([snaylor20](https://github.com/snaylor20))
- Detection Feeders [\108](https://github.com/dstl/Stone-Soup/pull/108) ([sglvladi](https://github.com/sglvladi))
- Update StateVector and Array classes. Add convenience handling for StateVector [\104](https://github.com/dstl/Stone-Soup/pull/104) ([DaveKirkland](https://github.com/DaveKirkland))
- Add Ornstein-Uhlenbeck transition model [\100](https://github.com/dstl/Stone-Soup/pull/100) ([sglvladi](https://github.com/sglvladi))
- Gaussian Mixture Probability Hypothesis Density Filter [\88](https://github.com/dstl/Stone-Soup/pull/88) ([Campbell101](https://github.com/Campbell101))

**Fixed bugs:**

- Fix SIAP metric component _nu_j [\345](https://github.com/dstl/Stone-Soup/pull/345) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix Prediction/Update from\_state being called with StateMutableSequence [\337](https://github.com/dstl/Stone-Soup/pull/337) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix rotating radar to handle measuring empty sets [\335](https://github.com/dstl/Stone-Soup/pull/335) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix YAML dump\_all method [\319](https://github.com/dstl/Stone-Soup/pull/319) ([sdhiscocks](https://github.com/sdhiscocks))
- Modify custom models to take state deep-copies [\317](https://github.com/dstl/Stone-Soup/pull/317) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Modify MultiTransitionMovingPlatform to append state only after full transition [\315](https://github.com/dstl/Stone-Soup/pull/315) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Change 'Ambiguity' metric to return 1 when there are no tracks/truths [\314](https://github.com/dstl/Stone-Soup/pull/314) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Change Property getters and setters [\311](https://github.com/dstl/Stone-Soup/pull/311) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix nonlinear models to give correct elevation [\310](https://github.com/dstl/Stone-Soup/pull/310) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix rotating radar test [\308](https://github.com/dstl/Stone-Soup/pull/308) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix issue with properties being reinstated from ancestors [\307](https://github.com/dstl/Stone-Soup/pull/307) ([sdhiscocks](https://github.com/sdhiscocks))
- Correct property name in specification error [\304](https://github.com/dstl/Stone-Soup/pull/304) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Refactor to avoid nested models [\298](https://github.com/dstl/Stone-Soup/pull/298) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix leftover open file handles. [\296](https://github.com/dstl/Stone-Soup/pull/296) ([DaveKirkland](https://github.com/DaveKirkland))
- Add correct error for simple measurement initiator [\291](https://github.com/dstl/Stone-Soup/pull/291) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix rotating radar dwell centre calculation [\290](https://github.com/dstl/Stone-Soup/pull/290) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix Hellinger distance. [\287](https://github.com/dstl/Stone-Soup/pull/287) ([jswright-dstl](https://github.com/jswright-dstl))
- Fix mapped dimensions in simple measurement initiator [\286](https://github.com/dstl/Stone-Soup/pull/286) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix rounding error issues for int-based state vectors in gauss2sigma [\279](https://github.com/dstl/Stone-Soup/pull/279) ([sglvladi](https://github.com/sglvladi))
- fix to platform orientation issue [\274](https://github.com/dstl/Stone-Soup/pull/274) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Fix \(G\)OSPA Metrics [\273](https://github.com/dstl/Stone-Soup/pull/273) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix caching issue with states/mutable-sequences with predictor [\272](https://github.com/dstl/Stone-Soup/pull/272) ([sdhiscocks](https://github.com/sdhiscocks))
- Override StateVector.flatten\(\) and StateVector.ravel\(\) functions [\270](https://github.com/dstl/Stone-Soup/pull/270) ([sglvladi](https://github.com/sglvladi))
- Change 2D sensor/platform orientations to 3D shape [\269](https://github.com/dstl/Stone-Soup/pull/269) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix initiator covariance issue. [\266](https://github.com/dstl/Stone-Soup/pull/266) ([DaveKirkland](https://github.com/DaveKirkland))
- Fix issues with copying platforms [\263](https://github.com/dstl/Stone-Soup/pull/263) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix issue with YAML requiring deep construct [\230](https://github.com/dstl/Stone-Soup/pull/230) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix StateVectors average method with custom types [\227](https://github.com/dstl/Stone-Soup/pull/227) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix flake8 errors introduced with recent flake8 update [\225](https://github.com/dstl/Stone-Soup/pull/225) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix divide by zero in SIAP Metrics when no truth/tracks [\215](https://github.com/dstl/Stone-Soup/pull/215) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix orientation setter in sensors with internal platforms. [\206](https://github.com/dstl/Stone-Soup/pull/206) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix issue with logpdf not handling custom types \(e.g. Angle\) [\205](https://github.com/dstl/Stone-Soup/pull/205) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix gauss2sigma raising error when state vector has integers [\198](https://github.com/dstl/Stone-Soup/pull/198) ([sdhiscocks](https://github.com/sdhiscocks))
- Add support for array/number types and parser type in YAML [\194](https://github.com/dstl/Stone-Soup/pull/194) ([sdhiscocks](https://github.com/sdhiscocks))
- JPDA and SystematicResampler Fixes \(updated\) [\193](https://github.com/dstl/Stone-Soup/pull/193) ([sglvladi](https://github.com/sglvladi))
- corrected rotx roty rotz for n x theta array. Now returns 3 x 3 x n a… [\192](https://github.com/dstl/Stone-Soup/pull/192) ([dcherrie-dstl](https://github.com/dcherrie-dstl))
- Update AESARadar to avoid mutating measurement model [\191](https://github.com/dstl/Stone-Soup/pull/191) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Change YAMLReader to return same path/track, updating the states [\180](https://github.com/dstl/Stone-Soup/pull/180) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix for KalmanFilter when using multiple models [\148](https://github.com/dstl/Stone-Soup/pull/148) ([sdhiscocks](https://github.com/sdhiscocks))
- JPDA Modifications [\113](https://github.com/dstl/Stone-Soup/pull/113) ([sdhiscocks](https://github.com/sdhiscocks))
- fix-ConstantAcceleration transition model [\109](https://github.com/dstl/Stone-Soup/pull/109) ([Valar001](https://github.com/Valar001))
- Fixed bug in gm\_reduce\_single [\101](https://github.com/dstl/Stone-Soup/pull/101) ([paulhorridge](https://github.com/paulhorridge))

**Documentation updates:**

- Add metric managers to documentation [\340](https://github.com/dstl/Stone-Soup/pull/340) ([sdhiscocks](https://github.com/sdhiscocks))
- Correct spelling in tracktotrack test comment [\332](https://github.com/dstl/Stone-Soup/pull/332) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Correct SIAP acronym [\306](https://github.com/dstl/Stone-Soup/pull/306) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Various fixes/update for Sphinx Gallery generated documentation/notebooks [\302](https://github.com/dstl/Stone-Soup/pull/302) ([sdhiscocks](https://github.com/sdhiscocks))
- Correct simple.py typo [\299](https://github.com/dstl/Stone-Soup/pull/299) ([jswright-dstl](https://github.com/jswright-dstl))
- Minor documentation fixes [\275](https://github.com/dstl/Stone-Soup/pull/275) ([jmbarr](https://github.com/jmbarr))
- Documentation Updates [\261](https://github.com/dstl/Stone-Soup/pull/261) ([sdhiscocks](https://github.com/sdhiscocks))
- review comments for sensor platform simulation [\260](https://github.com/dstl/Stone-Soup/pull/260) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Multi-sensor platform Simulation Example [\258](https://github.com/dstl/Stone-Soup/pull/258) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Tutorial Mods [\256](https://github.com/dstl/Stone-Soup/pull/256) ([jmbarr](https://github.com/jmbarr))
- Single sensor platform example [\252](https://github.com/dstl/Stone-Soup/pull/252) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Tweaks to the single target tutorials. [\250](https://github.com/dstl/Stone-Soup/pull/250) ([jmbarr](https://github.com/jmbarr))
- Fix Sphinx-Gallery scraper animations [\249](https://github.com/dstl/Stone-Soup/pull/249) ([sdhiscocks](https://github.com/sdhiscocks))
- Data assoc tutorial mods1 [\248](https://github.com/dstl/Stone-Soup/pull/248) ([jmbarr](https://github.com/jmbarr))
- UAV Tutorial\_V2 [\247](https://github.com/dstl/Stone-Soup/pull/247) ([DaveKirkland](https://github.com/DaveKirkland))
- Add download link to AIS data in AIS demo [\245](https://github.com/dstl/Stone-Soup/pull/245) ([sdhiscocks](https://github.com/sdhiscocks))
- Changed the Kalman Filter tutorial. [\243](https://github.com/dstl/Stone-Soup/pull/243) ([jmbarr](https://github.com/jmbarr))
- Add \(J\)PDA Tutorial and Diagrams [\239](https://github.com/dstl/Stone-Soup/pull/239) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add Initiators & Deleters tutorial [\238](https://github.com/dstl/Stone-Soup/pull/238) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Data Association Tutorials [\236](https://github.com/dstl/Stone-Soup/pull/236) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Metrics example and changes [\235](https://github.com/dstl/Stone-Soup/pull/235) ([sdhiscocks](https://github.com/sdhiscocks))
- Documentation design and other updates [\232](https://github.com/dstl/Stone-Soup/pull/232) ([sdhiscocks](https://github.com/sdhiscocks))
- Add demonstrations section with updated AIS Solent Tracker demo [\229](https://github.com/dstl/Stone-Soup/pull/229) ([sdhiscocks](https://github.com/sdhiscocks))
- Documentation updates [\228](https://github.com/dstl/Stone-Soup/pull/228) ([sdhiscocks](https://github.com/sdhiscocks))
- Added sphinx-gallery in to documentation [\224](https://github.com/dstl/Stone-Soup/pull/224) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Modify non-linear doc strings for Range Rate methods [\221](https://github.com/dstl/Stone-Soup/pull/221) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Update doc extensions for richer type definitions [\183](https://github.com/dstl/Stone-Soup/pull/183) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Adds some documentation [\140](https://github.com/dstl/Stone-Soup/pull/140) ([snaylor20](https://github.com/snaylor20))
- Fix double "https://" in README link to utm Lib [\#119](https://github.com/dstl/Stone-Soup/pull/119) ([GSORF](https://github.com/GSORF))
- Issue 106. Add link to original article [\107](https://github.com/dstl/Stone-Soup/pull/107) ([IanMayo](https://github.com/IanMayo))

**Other changes:**
- Use setuptools_scm for versioning [\336](https://github.com/dstl/Stone-Soup/pull/336) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix warnings raised for NumPy NEP34 and sensor reassignment [\282](https://github.com/dstl/Stone-Soup/pull/282) ([sdhiscocks](https://github.com/sdhiscocks))
- Add coverage and codecov upload to documentation build [\233](https://github.com/dstl/Stone-Soup/pull/233) ([sdhiscocks](https://github.com/sdhiscocks))
- Loosen tolerances on Swerling tests, to reduce chance of random failure [\175](https://github.com/dstl/Stone-Soup/pull/175) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix platform tests [\165](https://github.com/dstl/Stone-Soup/pull/165) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Resolve issue with simulator tests sometimes failing [\158](https://github.com/dstl/Stone-Soup/pull/158) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix deprecated warning for pytest, Sphinx and SciPy [\153](https://github.com/dstl/Stone-Soup/pull/153) ([sdhiscocks](https://github.com/sdhiscocks))

The initial _beta_ release for Stone Soup.