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.math4.legacy.filter; 18 19 import org.apache.commons.math4.legacy.linear.RealMatrix; 20 21 /** 22 * Defines the measurement model for the use with a {@link KalmanFilter}. 23 * 24 * @since 3.0 25 */ 26 public interface MeasurementModel { 27 /** 28 * Returns the measurement matrix. 29 * 30 * @return the measurement matrix 31 */ 32 RealMatrix getMeasurementMatrix(); 33 34 /** 35 * Returns the measurement noise matrix. This method is called by the {@link KalmanFilter} every 36 * correction step, so implementations of this interface may return a modified measurement noise 37 * depending on the current iteration step. 38 * 39 * @return the measurement noise matrix 40 * @see KalmanFilter#correct(double[]) 41 * @see KalmanFilter#correct(org.apache.commons.math4.legacy.linear.RealVector) 42 */ 43 RealMatrix getMeasurementNoise(); 44 }