feat: Integrate pyrsistent for enhanced tracking state management

- Added `pyrsistent` as a dependency to manage historical detections in the `Tracking` class, improving data integrity and immutability.
- Updated the `GlobalTrackingState` to include historical detections using `PVector`, facilitating better tracking of past detections.
- Introduced a new `update_tracking` function to handle timestamp updates for tracking objects, enhancing the tracking logic.
- Refactored imports and type hints for improved organization and clarity across the codebase.

playground.py

@@ -46,6 +46,7 @@ from jaxtyping import Array, Float, Num, jaxtyped
 from matplotlib import pyplot as plt
 from numpy.typing import ArrayLike
 from optax.assignment import hungarian_algorithm as linear_sum_assignment
+from pyrsistent import v, pvector
 from scipy.spatial.transform import Rotation as R
 from typing_extensions import deprecated
 
@@ -544,7 +545,10 @@ class GlobalTrackingState:
         kps_3d, latest_timestamp = triangle_from_cluster(cluster)
         next_id = self._last_id + 1
         tracking = Tracking(
-            id=next_id, keypoints=kps_3d, last_active_timestamp=latest_timestamp
+            id=next_id,
+            keypoints=kps_3d,
+            last_active_timestamp=latest_timestamp,
+            historical_detections=v(*cluster),
         )
         self._trackings[next_id] = tracking
         self._last_id = next_id
@@ -1027,4 +1031,10 @@ affinities = calculate_affinity_matrix(
 )
 display(affinities)
 
+
 # %%
+def update_tracking(tracking: Tracking, detection: Detection):
+    delta_t_ = detection.timestamp - tracking.last_active_timestamp
+    delta_t = max(delta_t_, DELTA_T_MIN)
+
+    return tracking