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1   /*
2    * Licensed to the Apache Software Foundation (ASF) under one or more
3    * contributor license agreements.  See the NOTICE file distributed with
4    * this work for additional information regarding copyright ownership.
5    * The ASF licenses this file to You under the Apache License, Version 2.0
6    * (the "License"); you may not use this file except in compliance with
7    * the License.  You may obtain a copy of the License at
8    *
9    *      http://www.apache.org/licenses/LICENSE-2.0
10   *
11   * Unless required by applicable law or agreed to in writing, software
12   * distributed under the License is distributed on an "AS IS" BASIS,
13   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14   * See the License for the specific language governing permissions and
15   * limitations under the License.
16   */
17  package org.apache.commons.math3.filter;
18  
19  import org.apache.commons.math3.exception.DimensionMismatchException;
20  import org.apache.commons.math3.exception.NoDataException;
21  import org.apache.commons.math3.exception.NullArgumentException;
22  import org.apache.commons.math3.linear.Array2DRowRealMatrix;
23  import org.apache.commons.math3.linear.RealMatrix;
24  
25  /**
26   * Default implementation of a {@link MeasurementModel} for the use with a {@link KalmanFilter}.
27   *
28   * @since 3.0
29   * @version $Id: DefaultMeasurementModel.java 1416643 2012-12-03 19:37:14Z tn $
30   */
31  public class DefaultMeasurementModel implements MeasurementModel {
32  
33      /**
34       * The measurement matrix, used to associate the measurement vector to the
35       * internal state estimation vector.
36       */
37      private RealMatrix measurementMatrix;
38  
39      /**
40       * The measurement noise covariance matrix.
41       */
42      private RealMatrix measurementNoise;
43  
44      /**
45       * Create a new {@link MeasurementModel}, taking double arrays as input parameters for the
46       * respective measurement matrix and noise.
47       *
48       * @param measMatrix
49       *            the measurement matrix
50       * @param measNoise
51       *            the measurement noise matrix
52       * @throws NullArgumentException
53       *             if any of the input matrices is {@code null}
54       * @throws NoDataException
55       *             if any row / column dimension of the input matrices is zero
56       * @throws DimensionMismatchException
57       *             if any of the input matrices is non-rectangular
58       */
59      public DefaultMeasurementModel(final double[][] measMatrix, final double[][] measNoise)
60              throws NullArgumentException, NoDataException, DimensionMismatchException {
61          this(new Array2DRowRealMatrix(measMatrix), new Array2DRowRealMatrix(measNoise));
62      }
63  
64      /**
65       * Create a new {@link MeasurementModel}, taking {@link RealMatrix} objects
66       * as input parameters for the respective measurement matrix and noise.
67       *
68       * @param measMatrix the measurement matrix
69       * @param measNoise the measurement noise matrix
70       */
71      public DefaultMeasurementModel(final RealMatrix measMatrix, final RealMatrix measNoise) {
72          this.measurementMatrix = measMatrix;
73          this.measurementNoise = measNoise;
74      }
75  
76      /** {@inheritDoc} */
77      public RealMatrix getMeasurementMatrix() {
78          return measurementMatrix;
79      }
80  
81      /** {@inheritDoc} */
82      public RealMatrix getMeasurementNoise() {
83          return measurementNoise;
84      }
85  }