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.extended;
19
20 import org.hipparchus.linear.RealMatrix;
21 import org.hipparchus.linear.RealVector;
22
23 /**
24 * Container for {@link NonLinearProcess non-linear process} evolution data.
25 * @see NonLinearProcess
26 * @since 1.3
27 */
28 public class NonLinearEvolution {
29
30 /** Current time. */
31 private final double currentTime;
32
33 /** State vector at current time. */
34 private final RealVector currentState;
35
36 /** State transition matrix between previous and current state. */
37 private final RealMatrix stateTransitionMatrix;
38
39 /** Process noise matrix. */
40 private final RealMatrix processNoiseMatrix;
41
42 /** Jacobian of the measurement with respect to the state (may be null). */
43 private final RealMatrix measurementJacobian;
44
45 /** Simple constructor.
46 * @param currentTime current time
47 * @param currentState state vector at current time
48 * @param stateTransitionMatrix state transition matrix between previous and current state
49 * @param processNoiseMatrix process noise
50 * @param measurementJacobian Jacobian of the measurement with respect to the state
51 * (may be null if measurement should be ignored)
52 */
53 public NonLinearEvolution(final double currentTime, final RealVector currentState,
54 final RealMatrix stateTransitionMatrix, final RealMatrix processNoiseMatrix,
55 final RealMatrix measurementJacobian) {
56 this.currentTime = currentTime;
57 this.currentState = currentState;
58 this.stateTransitionMatrix = stateTransitionMatrix;
59 this.processNoiseMatrix = processNoiseMatrix;
60 this.measurementJacobian = measurementJacobian;
61 }
62
63 /** Get current time.
64 * @return current time
65 */
66 public double getCurrentTime() {
67 return currentTime;
68 }
69
70 /** Get current state.
71 * @return current state
72 */
73 public RealVector getCurrentState() {
74 return currentState;
75 }
76
77 /** Get state transition matrix between previous and current state.
78 * @return state transition matrix between previous and current state
79 */
80 public RealMatrix getStateTransitionMatrix() {
81 return stateTransitionMatrix;
82 }
83
84 /** Get process noise.
85 * @return process noise
86 */
87 public RealMatrix getProcessNoiseMatrix() {
88 return processNoiseMatrix;
89 }
90
91 /** Get measurement Jacobian.
92 * @return Jacobian of the measurement with respect to the state
93 * (may be null if measurement should be ignored)
94 */
95 public RealMatrix getMeasurementJacobian() {
96 return measurementJacobian;
97 }
98
99 }