/*
* 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;
}
}