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 package org.hipparchus.filtering.kalman.unscented;
18
19 import org.hipparchus.linear.RealMatrix;
20 import org.hipparchus.linear.RealVector;
21
22 /**
23 * Container for {@link UnscentedProcess unscented process} evolution data.
24 * @see UnscentedProcess
25 * @since 2.2
26 */
27 public class UnscentedEvolution {
28
29 /** Current time. */
30 private final double currentTime;
31
32 /** State vectors at current time. */
33 private final RealVector[] currentStates;
34
35 /** Process noise matrix. */
36 private final RealMatrix processNoiseMatrix;
37
38 /**
39 * Constructor.
40 * @param currentTime current time
41 * @param currentStates state vectors at current time
42 * @param processNoiseMatrix process noise matrix
43 */
44 public UnscentedEvolution(final double currentTime, final RealVector[] currentStates,
45 final RealMatrix processNoiseMatrix) {
46 this.currentTime = currentTime;
47 this.currentStates = currentStates.clone();
48 this.processNoiseMatrix = processNoiseMatrix;
49 }
50
51 /** Get current time.
52 * @return current time
53 */
54 public double getCurrentTime() {
55 return currentTime;
56 }
57
58 /** Get current states.
59 * @return current states
60 */
61 public RealVector[] getCurrentStates() {
62 return currentStates.clone();
63 }
64
65 /** Get process noise.
66 * @return process noise
67 */
68 public RealMatrix getProcessNoiseMatrix() {
69 return processNoiseMatrix;
70 }
71
72 }