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.linear;
19
20 import org.hipparchus.linear.RealMatrix;
21 import org.hipparchus.linear.RealVector;
22
23 /**
24 * Container for {@link LinearProcess linear process} evolution data.
25 * @see LinearProcess
26 * @since 1.3
27 */
28 public class LinearEvolution {
29
30 /** State transition matrix A<sub>k-1</sub>. */
31 private final RealMatrix stateTransitionMatrix;
32
33 /** Control matrix B<sub>k-1</sub> (can be null if the process is not controlled). */
34 private final RealMatrix controlMatrix;
35
36 /** Command u<sub>k-1</sub>. (can be null if the process is not controlled). */
37 private final RealVector command;
38
39 /** Process noise matrix Q<sub>k-1</sub>. */
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 stateTransitionMatrix state transition matrix A<sub>k-1</sub>
47 * @param controlMatrix control matrix B<sub>k-1</sub> (can be null if the process is not controlled)
48 * @param command u<sub>k-1</sub>. (can be null if the process is not controlled)
49 * @param processNoiseMatrix process noise matrix Q<sub>k-1</sub>
50 * @param measurementJacobian Jacobian of the measurement with respect to the state
51 * (may be null if measurement should be ignored)
52 */
53 public LinearEvolution(final RealMatrix stateTransitionMatrix,
54 final RealMatrix controlMatrix, final RealVector command,
55 final RealMatrix processNoiseMatrix,
56 final RealMatrix measurementJacobian) {
57 this.stateTransitionMatrix = stateTransitionMatrix;
58 this.controlMatrix = controlMatrix;
59 this.command = command;
60 this.processNoiseMatrix = processNoiseMatrix;
61 this.measurementJacobian = measurementJacobian;
62 }
63
64 /** Get the state transition matrix A<sub>k-1</sub>.
65 * @return state transition matrix A<sub>k-1</sub>
66 */
67 public RealMatrix getStateTransitionMatrix() {
68 return stateTransitionMatrix;
69 }
70
71 /** Get the control matrix B<sub>k-1</sub>.
72 * @return control matrix B<sub>k-1</sub> (can be null if there is no control)
73 */
74 public RealMatrix getControlMatrix() {
75 return controlMatrix;
76 }
77
78 /** Get the command u<sub>k-1</sub>.
79 * @return command vector u<sub>k-1</sub> (can be null if there is no control)
80 */
81 public RealVector getCommand() {
82 return command;
83 }
84
85 /** Get the process noise matrix Q<sub>k-1</sub>.
86 * @return process noise matrix<sub>k-1</sub>
87 */
88 public RealMatrix getProcessNoiseMatrix() {
89 return processNoiseMatrix;
90 }
91
92 /** Get measurement Jacobian.
93 * @return Jacobian of the measurement with respect to the state
94 * (may be null if measurement should be ignored)
95 */
96 public RealMatrix getMeasurementJacobian() {
97 return measurementJacobian;
98 }
99
100 }