org.apache.commons.math3.filter
Class DefaultMeasurementModel

java.lang.Object
  extended by org.apache.commons.math3.filter.DefaultMeasurementModel
All Implemented Interfaces:
MeasurementModel

public class DefaultMeasurementModel
extends Object
implements MeasurementModel

Default implementation of a MeasurementModel for the use with a KalmanFilter.

Since:
3.0
Version:
$Id: DefaultMeasurementModel.java 1244107 2012-02-14 16:17:55Z erans $

Field Summary
private  RealMatrix measurementMatrix
          The measurement matrix, used to associate the measurement vector to the internal state estimation vector.
private  RealMatrix measurementNoise
          The measurement noise covariance matrix.
 
Constructor Summary
DefaultMeasurementModel(double[][] measMatrix, double[][] measNoise)
          Create a new MeasurementModel, taking double arrays as input parameters for the respective measurement matrix and noise.
DefaultMeasurementModel(RealMatrix measMatrix, RealMatrix measNoise)
          Create a new MeasurementModel, taking RealMatrix objects as input parameters for the respective measurement matrix and noise.
 
Method Summary
 RealMatrix getMeasurementMatrix()
          Returns the measurement matrix.
 RealMatrix getMeasurementNoise()
          Returns the measurement noise matrix.
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

measurementMatrix

private RealMatrix measurementMatrix
The measurement matrix, used to associate the measurement vector to the internal state estimation vector.


measurementNoise

private RealMatrix measurementNoise
The measurement noise covariance matrix.

Constructor Detail

DefaultMeasurementModel

public DefaultMeasurementModel(double[][] measMatrix,
                               double[][] measNoise)
Create a new MeasurementModel, taking double arrays as input parameters for the respective measurement matrix and noise.

Parameters:
measMatrix - the measurement matrix
measNoise - the measurement noise matrix

DefaultMeasurementModel

public DefaultMeasurementModel(RealMatrix measMatrix,
                               RealMatrix measNoise)
Create a new MeasurementModel, taking RealMatrix objects as input parameters for the respective measurement matrix and noise.

Parameters:
measMatrix - the measurement matrix
measNoise - the measurement noise matrix
Method Detail

getMeasurementMatrix

public RealMatrix getMeasurementMatrix()
Returns the measurement matrix.

Specified by:
getMeasurementMatrix in interface MeasurementModel
Returns:
the measurement matrix

getMeasurementNoise

public RealMatrix getMeasurementNoise()
Returns the measurement noise matrix. This method is called by the KalmanFilter every correct step, so implementations of this interface may return a modified measurement noise depending on current iteration step.

Specified by:
getMeasurementNoise in interface MeasurementModel
Returns:
the measurement noise matrix
See Also:
KalmanFilter.correct(double[]), KalmanFilter.correct(org.apache.commons.math3.linear.RealVector)


Copyright (c) 2003-2013 Apache Software Foundation