navlie.composite.CompositeMeasurementModel¶
- class navlie.composite.CompositeMeasurementModel(model: MeasurementModel, state_id)¶
Bases:
MeasurementModelWrapper for a standard measurement model that assigns the model to a specific substate (referenced by state_id) inside a CompositeState. This class will take care of extracting the relevant substate from the CompositeState, and then applying the measurement model to it. It will also take care of padding the Jacobian with zeros appropriately to match the degrees of freedom of the larger CompositeState.
- Parameters:
model (MeasurementModel) – Standard measurement model, which is appropriate only for a single substate in the CompositeState.
state_id (Any) – The unique ID of the relevant substate in the CompositeState, to assign the measurement model to.
- evaluate(x: CompositeState) → ndarray¶
Evaluates the measurement model \(\mathbf{g}(\mathcal{X})\).
- jacobian(x: CompositeState) → ndarray¶
Evaluates the measurement model Jacobian with respect to the state.
\[\mathbf{G} = \frac{D \mathbf{g}(\mathcal{X})}{D \mathcal{X}}\]
- covariance(x: CompositeState) → ndarray¶
Returns the covariance \(\mathbf{R}\) associated with additive Gaussian noise.
- evaluate_with_jacobian(x: State) → Tuple[ndarray, ndarray]¶
Evaluates the measurement model and simultaneously returns the Jacobian as its second output argument. This is useful to override for performance reasons when the model evaluation and Jacobian have a lot of common calculations, and it is more efficient to calculate them in the same function call.