def generate_tracks_meas(A, H, Q, R, x_0, P_0, K=100): target = Target(A, H, Q, R, x_0, P_0) xr = x_0.size (yr, _) = H.shape X = np.zeros((xr, K)) Z = np.zeros((yr, K)) for k in range(K): x = target.prop_state() z = target.prop_meas() X[:, k] = x.flatten() Z[:, k] = z.flatten() return X, Z