Added pyrate as a direct dependency.

pyrate/doc/source/sense/filters/extended.rst

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+Extended Kalman Filter
+----------------------
+
+.. automodule:: pyrate.sense.filters.extended
+    :members:
+    :undoc-members:
+    :show-inheritance:

pyrate/doc/source/sense/filters/extended_gmphd.rst

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+Extended Gaussian Mixture PHD Filter
+------------------------------------
+
+.. automodule:: pyrate.sense.filters.extended_gmphd
+    :members:
+    :undoc-members:
+    :show-inheritance:

pyrate/doc/source/sense/filters/filters.rst

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+Filters
+-------
+
+The filters package provides single and multi target tracking capabilities based on Bayesian methods.
+A prime example for such a filter is the so called Kalman filter and its derivatives for nonlinear estimation.
+Additionally, the gaussian mixture probability hypothesis density (PHD) filter is provided.
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Modules:
+
+   kalman
+   extended
+   unscented
+   gmphd
+   extended_gmphd

pyrate/doc/source/sense/filters/gmphd.rst

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+Gaussian Mixture PHD Filter
+---------------------------
+
+.. automodule:: pyrate.sense.filters.gmphd
+    :members:
+    :undoc-members:
+    :show-inheritance:

pyrate/doc/source/sense/filters/kalman.rst

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+Kalman Filter
+-------------
+
+.. automodule:: pyrate.sense.filters.kalman
+    :members:
+    :undoc-members:
+    :show-inheritance:

pyrate/doc/source/sense/filters/unscented.rst

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+Unscented Kalman Filter
+-----------------------
+
+.. automodule:: pyrate.sense.filters.unscented
+    :members:
+    :undoc-members:
+    :show-inheritance:

pyrate/doc/source/sense/sense.rst

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+Sense
+-----
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Subpackages:
+
+   filters/filters
+   smoothers/smoothers

pyrate/doc/source/sense/smoothers/extended.rst

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+Extended RTS Smoother
+---------------------
+
+.. automodule:: pyrate.sense.smoothers.extended
+    :members:
+    :undoc-members:
+    :show-inheritance:

pyrate/doc/source/sense/smoothers/rts.rst

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+RTS Smoother
+------------
+
+.. automodule:: pyrate.sense.smoothers.rts
+    :members:
+    :undoc-members:
+    :show-inheritance:

pyrate/doc/source/sense/smoothers/smoothers.rst

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+Smoothers
+---------
+
+Smoothing is the problem of state estimation, where not only previous measurements but also future observations are part of a single estimate.
+A popular example for smoothing is the so called Rauch-Tung-Striebel (RTS) smoother, which is based on the Kalman filter and its derivatives for nonlinear estimation.
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Modules:
+
+   rts
+   extended
+   unscented	

pyrate/doc/source/sense/smoothers/unscented.rst

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+Unscented RTS Smoother
+----------------------
+
+.. automodule:: pyrate.sense.smoothers.unscented
+    :members:
+    :undoc-members:
+    :show-inheritance: