1 /*
2 * Licensed to the Hipparchus project under one or more
3 * contributor license agreements. See the NOTICE file distributed with
4 * this work for additional information regarding copyright ownership.
5 * The Hipparchus project licenses this file to You under the Apache License, Version 2.0
6 * (the "License"); you may not use this file except in compliance with
7 * the License. You may obtain a copy of the License at
8 *
9 * https://www.apache.org/licenses/LICENSE-2.0
10 *
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
16 */
17
18 package org.hipparchus.filtering.kalman;
19
20 import org.hipparchus.exception.MathRuntimeException;
21
22 /**
23 * Interface representing a Kalman filter.
24 * @param <T> the type of the measurements
25 * @since 1.3
26 */
27 public interface KalmanFilter<T extends Measurement> {
28
29 /** Perform one estimation step.
30 * @param measurement single measurement to handle
31 * @return estimated state after measurement has been considered
32 * @exception MathRuntimeException if estimation fails
33 */
34 ProcessEstimate estimationStep(T measurement)
35 throws MathRuntimeException;
36
37 /** Get the current predicted state.
38 * @return current predicted state
39 */
40 ProcessEstimate getPredicted();
41
42 /** Get the current corrected state.
43 * @return current corrected state
44 */
45 ProcessEstimate getCorrected();
46
47 }