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 */ 017 package org.apache.commons.math3.filter; 018 019 import org.apache.commons.math3.exception.DimensionMismatchException; 020 import org.apache.commons.math3.exception.NoDataException; 021 import org.apache.commons.math3.exception.NullArgumentException; 022 import org.apache.commons.math3.linear.Array2DRowRealMatrix; 023 import 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 * @version $Id: DefaultMeasurementModel.java 1416643 2012-12-03 19:37:14Z tn $ 030 */ 031 public class DefaultMeasurementModel implements MeasurementModel { 032 033 /** 034 * The measurement matrix, used to associate the measurement vector to the 035 * internal state estimation vector. 036 */ 037 private RealMatrix measurementMatrix; 038 039 /** 040 * The measurement noise covariance matrix. 041 */ 042 private RealMatrix measurementNoise; 043 044 /** 045 * Create a new {@link MeasurementModel}, taking double arrays as input parameters for the 046 * respective measurement matrix and noise. 047 * 048 * @param measMatrix 049 * the measurement matrix 050 * @param measNoise 051 * the measurement noise matrix 052 * @throws NullArgumentException 053 * if any of the input matrices is {@code null} 054 * @throws NoDataException 055 * if any row / column dimension of the input matrices is zero 056 * @throws DimensionMismatchException 057 * if any of the input matrices is non-rectangular 058 */ 059 public DefaultMeasurementModel(final double[][] measMatrix, final double[][] measNoise) 060 throws NullArgumentException, NoDataException, DimensionMismatchException { 061 this(new Array2DRowRealMatrix(measMatrix), new Array2DRowRealMatrix(measNoise)); 062 } 063 064 /** 065 * Create a new {@link MeasurementModel}, taking {@link RealMatrix} objects 066 * as input parameters for the respective measurement matrix and noise. 067 * 068 * @param measMatrix the measurement matrix 069 * @param measNoise the measurement noise matrix 070 */ 071 public DefaultMeasurementModel(final RealMatrix measMatrix, final RealMatrix measNoise) { 072 this.measurementMatrix = measMatrix; 073 this.measurementNoise = measNoise; 074 } 075 076 /** {@inheritDoc} */ 077 public RealMatrix getMeasurementMatrix() { 078 return measurementMatrix; 079 } 080 081 /** {@inheritDoc} */ 082 public RealMatrix getMeasurementNoise() { 083 return measurementNoise; 084 } 085 }