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.util; 18 19 import org.hipparchus.linear.RealMatrix; 20 import org.hipparchus.linear.RealVector; 21 22 /** 23 * Provider for unscented transform. 24 * @since 2.2 25 */ 26 public interface UnscentedTransformProvider { 27 28 /** 29 * Perform the unscented transform from a state and its covariance. 30 * @param state process state 31 * @param covariance covariance associated with the process state 32 * @return an array containing the sigma points of the unscented transform 33 */ 34 RealVector[] unscentedTransform(RealVector state, RealMatrix covariance); 35 36 /** 37 * Get the covariance weights. 38 * @return the covariance weights 39 */ 40 RealVector getWc(); 41 42 /** 43 * Get the mean weights. 44 * @return the mean weights 45 */ 46 RealVector getWm(); 47 48 }