001/* 002 * Licensed to the Apache Software Foundation (ASF) under one or more 003 * contributor license agreements. See the NOTICE file distributed with 004 * this work for additional information regarding copyright ownership. 005 * The ASF licenses this file to You under the Apache License, Version 2.0 006 * (the "License"); you may not use this file except in compliance with 007 * the License. You may obtain a copy of the License at 008 * 009 * http://www.apache.org/licenses/LICENSE-2.0 010 * 011 * Unless required by applicable law or agreed to in writing, software 012 * distributed under the License is distributed on an "AS IS" BASIS, 013 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 014 * See the License for the specific language governing permissions and 015 * limitations under the License. 016 */ 017package org.apache.commons.math3.filter; 018 019import org.apache.commons.math3.exception.DimensionMismatchException; 020import org.apache.commons.math3.exception.NoDataException; 021import org.apache.commons.math3.exception.NullArgumentException; 022import org.apache.commons.math3.linear.Array2DRowRealMatrix; 023import org.apache.commons.math3.linear.RealMatrix; 024 025/** 026 * Default implementation of a {@link MeasurementModel} for the use with a {@link KalmanFilter}. 027 * 028 * @since 3.0 029 */ 030public class DefaultMeasurementModel implements MeasurementModel { 031 032 /** 033 * The measurement matrix, used to associate the measurement vector to the 034 * internal state estimation vector. 035 */ 036 private RealMatrix measurementMatrix; 037 038 /** 039 * The measurement noise covariance matrix. 040 */ 041 private RealMatrix measurementNoise; 042 043 /** 044 * Create a new {@link MeasurementModel}, taking double arrays as input parameters for the 045 * respective measurement matrix and noise. 046 * 047 * @param measMatrix 048 * the measurement matrix 049 * @param measNoise 050 * the measurement noise matrix 051 * @throws NullArgumentException 052 * if any of the input matrices is {@code null} 053 * @throws NoDataException 054 * if any row / column dimension of the input matrices is zero 055 * @throws DimensionMismatchException 056 * if any of the input matrices is non-rectangular 057 */ 058 public DefaultMeasurementModel(final double[][] measMatrix, final double[][] measNoise) 059 throws NullArgumentException, NoDataException, DimensionMismatchException { 060 this(new Array2DRowRealMatrix(measMatrix), new Array2DRowRealMatrix(measNoise)); 061 } 062 063 /** 064 * Create a new {@link MeasurementModel}, taking {@link RealMatrix} objects 065 * as input parameters for the respective measurement matrix and noise. 066 * 067 * @param measMatrix the measurement matrix 068 * @param measNoise the measurement noise matrix 069 */ 070 public DefaultMeasurementModel(final RealMatrix measMatrix, final RealMatrix measNoise) { 071 this.measurementMatrix = measMatrix; 072 this.measurementNoise = measNoise; 073 } 074 075 /** {@inheritDoc} */ 076 public RealMatrix getMeasurementMatrix() { 077 return measurementMatrix; 078 } 079 080 /** {@inheritDoc} */ 081 public RealMatrix getMeasurementNoise() { 082 return measurementNoise; 083 } 084}