This is a very simple implementation of the KSP applied to
multi-target tracking. It is dubbed Multi-Tracked Path.

The two main classes are MTPGraph and Tracker.

MTPGraph allows to define a directed acyclic graph (DAG), to associate
a length to each of its edge (which can be negative), and to compute
the family of paths in this graph that minimize the sum of the length
of their edges.

Tracker allows

 (1) to define a spatial topology composed of

     - a number of locations
     - the allowed motions between them (i.e. a Boolean flag for each
       pair of locations)
     - the entrances (a Boolean flag for each location)
     - the exits (a Boolean flag for each location)

 (2) to define a number of time steps

 (3) to set for every location and time a detection score

From this input, it computes the best set of disjoint trajectories
consistent with the topology, which maximizes the overall detection
score (i.e. the sum of the detection scores of the nodes visited by
the trajectories)

The file mtp.cc gives a very simple example.

François Fleuret
August 2012