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Diffstat (limited to 'src/main/java/org/apache/commons/math3/filter/DefaultMeasurementModel.java')
-rw-r--r-- | src/main/java/org/apache/commons/math3/filter/DefaultMeasurementModel.java | 77 |
1 files changed, 77 insertions, 0 deletions
diff --git a/src/main/java/org/apache/commons/math3/filter/DefaultMeasurementModel.java b/src/main/java/org/apache/commons/math3/filter/DefaultMeasurementModel.java new file mode 100644 index 0000000..d0b4440 --- /dev/null +++ b/src/main/java/org/apache/commons/math3/filter/DefaultMeasurementModel.java @@ -0,0 +1,77 @@ +/* + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. + * The ASF licenses this file to You under the Apache License, Version 2.0 + * (the "License"); you may not use this file except in compliance with + * the License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package org.apache.commons.math3.filter; + +import org.apache.commons.math3.exception.DimensionMismatchException; +import org.apache.commons.math3.exception.NoDataException; +import org.apache.commons.math3.exception.NullArgumentException; +import org.apache.commons.math3.linear.Array2DRowRealMatrix; +import org.apache.commons.math3.linear.RealMatrix; + +/** + * Default implementation of a {@link MeasurementModel} for the use with a {@link KalmanFilter}. + * + * @since 3.0 + */ +public class DefaultMeasurementModel implements MeasurementModel { + + /** + * The measurement matrix, used to associate the measurement vector to the internal state + * estimation vector. + */ + private RealMatrix measurementMatrix; + + /** The measurement noise covariance matrix. */ + private RealMatrix measurementNoise; + + /** + * Create a new {@link MeasurementModel}, taking double arrays as input parameters for the + * respective measurement matrix and noise. + * + * @param measMatrix the measurement matrix + * @param measNoise the measurement noise matrix + * @throws NullArgumentException if any of the input matrices is {@code null} + * @throws NoDataException if any row / column dimension of the input matrices is zero + * @throws DimensionMismatchException if any of the input matrices is non-rectangular + */ + public DefaultMeasurementModel(final double[][] measMatrix, final double[][] measNoise) + throws NullArgumentException, NoDataException, DimensionMismatchException { + this(new Array2DRowRealMatrix(measMatrix), new Array2DRowRealMatrix(measNoise)); + } + + /** + * Create a new {@link MeasurementModel}, taking {@link RealMatrix} objects as input parameters + * for the respective measurement matrix and noise. + * + * @param measMatrix the measurement matrix + * @param measNoise the measurement noise matrix + */ + public DefaultMeasurementModel(final RealMatrix measMatrix, final RealMatrix measNoise) { + this.measurementMatrix = measMatrix; + this.measurementNoise = measNoise; + } + + /** {@inheritDoc} */ + public RealMatrix getMeasurementMatrix() { + return measurementMatrix; + } + + /** {@inheritDoc} */ + public RealMatrix getMeasurementNoise() { + return measurementNoise; + } +} |