Package org.apache.commons.math3.filter
Class DefaultMeasurementModel
java.lang.Object
org.apache.commons.math3.filter.DefaultMeasurementModel
- All Implemented Interfaces:
MeasurementModel
Default implementation of a
MeasurementModel
for the use with a KalmanFilter
.- Since:
- 3.0
-
Field Summary
FieldsModifier and TypeFieldDescriptionprivate RealMatrix
The measurement matrix, used to associate the measurement vector to the internal state estimation vector.private RealMatrix
The measurement noise covariance matrix. -
Constructor Summary
ConstructorsConstructorDescriptionDefaultMeasurementModel
(double[][] measMatrix, double[][] measNoise) Create a newMeasurementModel
, taking double arrays as input parameters for the respective measurement matrix and noise.DefaultMeasurementModel
(RealMatrix measMatrix, RealMatrix measNoise) Create a newMeasurementModel
, takingRealMatrix
objects as input parameters for the respective measurement matrix and noise. -
Method Summary
Modifier and TypeMethodDescriptionReturns the measurement matrix.Returns the measurement noise matrix.
-
Field Details
-
measurementMatrix
The measurement matrix, used to associate the measurement vector to the internal state estimation vector. -
measurementNoise
The measurement noise covariance matrix.
-
-
Constructor Details
-
DefaultMeasurementModel
public DefaultMeasurementModel(double[][] measMatrix, double[][] measNoise) throws NullArgumentException, NoDataException, DimensionMismatchException Create a newMeasurementModel
, taking double arrays as input parameters for the respective measurement matrix and noise.- Parameters:
measMatrix
- the measurement matrixmeasNoise
- the measurement noise matrix- Throws:
NullArgumentException
- if any of the input matrices isnull
NoDataException
- if any row / column dimension of the input matrices is zeroDimensionMismatchException
- if any of the input matrices is non-rectangular
-
DefaultMeasurementModel
Create a newMeasurementModel
, takingRealMatrix
objects as input parameters for the respective measurement matrix and noise.- Parameters:
measMatrix
- the measurement matrixmeasNoise
- the measurement noise matrix
-
-
Method Details
-
getMeasurementMatrix
Returns the measurement matrix.- Specified by:
getMeasurementMatrix
in interfaceMeasurementModel
- Returns:
- the measurement matrix
-
getMeasurementNoise
Returns the measurement noise matrix. This method is called by theKalmanFilter
every correction step, so implementations of this interface may return a modified measurement noise depending on the current iteration step.- Specified by:
getMeasurementNoise
in interfaceMeasurementModel
- Returns:
- the measurement noise matrix
- See Also:
-