% Sensor Fusion and Tracking Toolbox
% Version 2.0 (R2020b) 29-Jul-2020
%
% Multi-Target Trackers
%   trackerGNN                        - Global nearest neighbor multi-target tracker
%   trackerJPDA                       - Joint probabilistic data association multi-target tracker
%   trackerTOMHT                      - Multi-hypothesis multi-target tracker (track oriented)
%   trackerPHD                        - Multi-target probability hypothesis density tracker
%   trackerGridRFS                    - Multi-target 2-D grid-based tracker
%   objectDetection                   - Report for a single object detection
%   getTrackPositions                 - Track positions and position covariances
%   getTrackVelocities                - Track velocities and velocity covariances
%   partitionDetections               - Partition detections based on distance
%
% Multi-Target Tracker Components
%   trackHistoryLogic                 - History-based track confirmation and deletion logic
%   trackScoreLogic                   - Score-based track confirmation and deletion logic
%   trackBranchHistory                - Create and manage track branches
%   clusterTrackBranches              - Cluster track-oriented multi-hypothesis history
%   compatibleTrackBranches           - Formulate global hypotheses from clusters
%   pruneTrackBranches                - Prune track branches with low likelihood
%   jpdaEvents                        - Generate feasible joint events for trackerJPDA
%   trackingSensorConfiguration       - Configuration of the sensor used with trackerPHD
%
% Data Assignment
%   matchpairs                        - Global nearest neighbor 2-D assignment based on Duff-Koster
%   assignmunkres                     - Global nearest neighbor 2-D assignment based on Munkres
%   assignauction                     - Global nearest neighbor 2-D assignment based on Auction
%   assignjv                          - Global nearest neighbor 2-D assignment based on Jonker-Volgenant
%   assignkbest                       - Murty's K-best solutions for 2-D assignment
%   assignsd                          - S-D assignment using Lagrangian relaxation
%   assignkbestsd                     - K-best solutions to S-D assignment using Lagrangian Relaxation
%   assignTOMHT                       - Track-oriented multi-hypotheses tracking (TOMHT) assignment
%
% Tracking Filters
%   trackingABF                       - Alpha-beta-gamma filter
%   trackingKF                        - Linear Kalman filter 
%   trackingEKF                       - Extended Kalman filter
%   trackingUKF                       - Unscented Kalman filter
%   trackingCKF                       - Cubature Kalman filter 
%   trackingPF                        - Particle filter 
%   trackingMSCEKF                    - Extended Kalman filter in modified spherical coordinates
%   trackingGSF                       - Gaussian-sum filter
%   trackingIMM                       - Interacting Multiple Model filter
%   ggiwphd                           - Gamma Gaussian Inverse Wishart PHD filter
%   gmphd                             - Gaussian mixture PHD filter
%
% Filter Initialization Functions for Trackers
%   initcvabf                         - Constant velocity trackingABF initialization
%   initcaabf                         - Constant acceleration trackingABF initialization
%   initcvkf                          - Constant velocity trackingKF initialization
%   initcakf                          - Constant acceleration trackingKF initialization
%   initcvekf                         - Constant velocity trackingEKF initialization
%   initcaekf                         - Constant acceleration trackingEKF initialization
%   initctekf                         - Constant turn rate trackingEKF initialization
%   initcvukf                         - Constant velocity trackingUKF initialization
%   initcaukf                         - Constant acceleration trackingUKF initialization
%   initctukf                         - Constant turn rate trackingUKF initialization
%   initcvckf                         - Constant velocity trackingCKF initialization
%   initcackf                         - Constant acceleration trackingCKF initialization
%   initctckf                         - Constant turn rate trackingCKF initialization
%   initcvpf                          - Constant velocity trackingPF initialization
%   initcapf                          - Constant acceleration trackingPF initialization
%   initctpf                          - Constant turn rate trackingPF initialization
%   initsingerekf                     - Singer acceleration trackingEKF initialization
%   initcvmscekf                      - Constant velocity trackingMSCEKF initialization
%   initrpekf                         - Constant velocity range-parameterized EKF initialization
%   initapekf                         - Constant velocity angle-parameterized EKF initialization
%   initekfimm                        - trackingIMM initialization 
%
% Filter Initialization Functions for PHD Tracker
%   initcvggiwphd                     - Constant velocity ggiwphd initialization
%   initcaggiwphd                     - Constant acceleration ggiwphd initialization
%   initctggiwphd                     - Constant turn rate ggiwphd initialization
%   initcvgmphd                       - Constant velocity gmphd initialization
%   initcagmphd                       - Constant acceleration gmphd initialization
%   initctgmphd                       - Constant turn-rate gmphd initialization
%   initctrectgmphd                   - Constant turn-rate rectangular target gmphd initialization
%
% Motion and Measurement Models for Tracking Filters
%   constvel                          - Constant velocity (CV) motion model
%   constveljac                       - Jacobian of the constant velocity (CV) motion model
%   cvmeas                            - Measurement based on the constant velocity (CV) motion model
%   cvmeasjac                         - Jacobian of the measurement using the constant velocity (CV) model
%   constacc                          - Constant acceleration (CA) motion model
%   constaccjac                       - Jacobian of the constant acceleration (CA) motion model
%   cameas                            - Measurement based on the constant acceleration (CA) motion model
%   cameasjac                         - Jacobian of the measurement using the constant acceleration (CA) model
%   constturn                         - Constant turn rate (CT) motion model
%   constturnjac                      - Jacobian of the constant turn rate (CT) model
%   ctmeas                            - Measurement based on the constant turn rate (CT) motion model
%   ctmeasjac                         - Jacobian of the measurement using the constant turn rate (CT) model
%   constvelmsc                       - Constant velocity (CV) motion model in MSC frame
%   constvelmscjac                    - Jacobian of the constant velocity (CV) motion model in MSC frame
%   cvmeasmsc                         - Measurement based on the constant velocity (CV) motion model in MSC frame
%   cvmeasmscjac                      - Jacobian of the measurement using the constant velocity (CV) model in MSC frame
%   singer                            - Singer acceleration motion model
%   singerjac                         - Jacobian of the Singer acceleration model
%   singermeas                        - Measurement based on Singer acceleration motion model
%   singermeasjac                     - Jacobian of the measurement using the Singer acceleration model
%   singerProcessNoise                - Process noise matrix for Singer accleration model
%   ctrect                            - Constant turn-rate rectangular target model
%   ctrectjac                         - Jacobian of the constant turn-rate rectangular target model
%   ctrectmeas                        - Measurement based on the constant turn-rate rectangular target model
%   ctrectmeasjac                     - Jacobian of the measurement using constant turn-rate rectangular target model
%   ctrectcorners                     - Corner measurements of the constant turn-rate rectangular target model
%   switchimm                         - Model conversion function for trackingIMM object
%
% State, Detection, and Track Fusion
%   staticDetectionFuser              - Static fusion of synchronous sensor detections
%   triangulateLOS                    - Triangulate multiple line-of-sight(LOS) detections
%   trackFuser                        - A track-to-track fuser
%   fuserSourceConfiguration          - Configuration of a source used with track fuser
%   objectTrack                       - Report for single object track
%   fusexcov                          - Covariance fusion using cross-covariance
%   fusecovint                        - Covariance fusion using covariance intersection
%   fusecovunion                      - Covariance fusion using covariance union
%
% Track Visualization and Metrics
%   theaterPlot                       - Plot ground truth, detections and tracks
%   theaterPlot/platformPlotter       - Plot platforms (target or sensor platform)
%   theaterPlot/detectionPlotter      - Plot object detections and velocities
%   theaterPlot/trackPlotter          - Plot tracks, track uncertainties, and history trails
%   theaterPlot/orientationPlotter    - Plot object orientations
%   theaterPlot/trajectoryPlotter     - Plot object trajectory
%   theaterPlot/coveragePlotter       - Plot sensors and emitters coverage areas and beams
%   coverageConfig                    - Return sensors and emitters coverage configurations
%   trackAssignmentMetrics            - Track establishment, maintenance, and deletion metrics
%   trackErrorMetrics                 - Track error and NEES
%   trackOSPAMetric                   - Optimal subpattern assignment (OSPA) metric
%   trackGOSPAMetric                  - Generalized optimal subpattern assignment (GOSPA) metric
%
% Scenario Generation
%   trackingScenarioDesigner          - App for designing tracking scenarios and generating detections
%   trackingScenario                  - Generate objects and trajectories in a tracking scenario
%   trackingScenario/platform         - Create a platform (target or sensor platform)
%   trackingScenario/advance          - Move simulation forward by one time interval
%   trackingScenario/record           - Record entire simulation
%   trackingScenario/platformProfiles - Retrieve physical attributes for each platform
%   trackingScenario/platformPoses    - Retrieve poses (i.e. positions and orientations) of platforms
%   trackingScenario/emit             - Collect emissions from all the emitters in the scenario
%   trackingScenario/propagate        - Propagate emissions in the scenario
%   trackingScenario/detect           - Collect detections from all the sensors in the scenario
%   trackingScenario/lidarDetect      - Collect point clouds from all the lidar sensors in the scenario
%   trackingScenario/coverageConfig   - Return sensors and emitters coverage configurations in the scenario
%   trackingScenario/perturb          - Perturb the tracking scenario
%   trackingScenario/clone            - Create a copy of the tracking scenario
%   trackingScenarioRecording         - A tracking scenario recording
%   monteCarloRun                     - Perform Monte Carlo realizations of a tracking scenario
%   emissionsInBody                   - Transform emissions to the body frame of a platform
%   extendedObjectMesh                - Mesh representation of an extended object for lidar simulation
%   tracking.scenario.airplaneMesh    - Prebuilt mesh for a airplane for lidar simulation
%
% Trajectory Generation
%   waypointTrajectory                - Trajectory from position, time, orientation and velocity values
%   kinematicTrajectory               - Trajectory from translational and rotational rates
%   geoTrajectory                     - Trajectory from geodetic coordinates, time, local orientation and velocity values
%
% Sensor Models for Localization
%   accelparams                       - Accelerometer sensor parameters
%   gyroparams                        - Gyroscope sensor parameters
%   magparams                         - Magnetometer sensor parameters
%   imuSensor                         - Simulate IMU comprising accelerometer, gyroscope, and/or magnetometer
%   gpsSensor                         - Simulate GPS position, velocity, groundspeed, and course
%   altimeterSensor                   - Simulate altimeter
%   allanvar                          - Allan variance
%   magcal                            - Magnetometer calibration
%   transformMotion                   - Convert motion quantities between two frames
%
% Sensor Fusion for Localization
%   ecompass                          - Accelerometer and magnetometer fusion for orientation
%   imufilter                         - Accelerometer and gyroscope fusion for orientation
%   ahrsfilter                        - Accelerometer, gyroscope, magnetometer fusion for orientation with Kalman filter
%   complementaryFilter               - Accelerometer, gyroscope, magnetometer fusion for orientation with complementary filter
%   ahrs10filter                      - Accelerometer, gyroscope, magnetometer, altimeter fusion for pose
%   insfilter                         - IMU and GPS fusion for orientation and position (pose)
%   insfilterMARG                     - Pose estimation filter
%   insfilterNonholonomic             - Pose estimation filter with nonholonomic constraints
%   insfilterAsync                    - Asynchronous pose estimation filter
%   insfilterErrorState               - Error-state pose estimation filter
%   tunerconfig                       - Configuration of fusion filter tuner
%   tunernoise                        - Noise structure for fusion filter tuner
%   timescope                         - Streaming display of time-domain signals
%
% Sensor Models for Tracking
%   monostaticRadarSensor             - Monostatic scanning radar detection generator
%   radarSensor                       - Active or passive radar, and ESM detections generator
%   radarEmitter                      - Radar signals and interferences generator
%   rcsSignature                      - Radar cross-section (RCS) signature
%   radarChannel                      - Atmospheric propagation and reflections of radar signals
%   radarEmission                     - Report for a single radar signal emission
%   monostaticLidarSensor             - Monostatic lidar point cloud generator
%   sonarSensor                       - Active or passive sonar detections generator
%   sonarEmitter                      - Acoustic signals and interferences generator
%   tsSignature                       - Sonar target strength (TS) signature
%   underwaterChannel                 - Underwater propagation and reflection of sonar signals
%   sonarEmission                     - Report for a single acoustic signal emission
%   irSensor                          - Infrared (IR) detections generator
%   irSignature                       - Infrared (IR) platform signature
%   insSensor                         - INS/GPS position, velocity, and orientation emulator 
%
% Rotations
%   quaternion                        - Quaternion arrays from parts or other rotation representations
%   quaternion/rotmat                 - Convert quaternions to rotation matrices
%   quaternion/euler                  - Convert quaternions to Euler or Tait-Bryan angles (radians)
%   quaternion/eulerd                 - Convert quaternions to Euler or Tait-Bryan angles (degrees)
%   quaternion/rotvec                 - Convert quaternions to rotation vectors (radians)
%   quaternion/rotvecd                - Convert quaternions to rotation vectors (degrees)
%   quaternion/compact                - Arrays from quaternions
%   quaternion/parts                  - Extract four parts of a quaternion
%   quaternion/rotateframe            - Rotate coordinate frame using quaternions
%   quaternion/rotatepoint            - Rotate 3D points using quaternions
%   quaternion/norm                   - Quaternion norm
%   quaternion/normalize              - Convert to a unit quaternion
%   quaternion/dist                   - Distance between two quaternions
%   quaternion/slerp                  - Spherical linear interpolation of quaternions
%   quaternion/meanrot                - Average rotation of quaternions
%   randrot                           - Uniformly distributed random rotations
%
% Examples
%   <a href="matlab:demo('toolbox','fusion')">Examples</a>                          - Index of Sensor Fusion and Tracking Toolbox examples

% Copyright 2020 The MathWorks, Inc.
