AbstractKalmanEstimator.java
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*
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package org.orekit.estimation.sequential;
import java.util.List;
import org.hipparchus.linear.RealMatrix;
import org.hipparchus.linear.RealVector;
import org.orekit.propagation.conversion.PropagatorBuilder;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.ParameterDriver;
import org.orekit.utils.ParameterDriversList;
import org.orekit.utils.ParameterDriversList.DelegatingDriver;
/**
* Base class for Kalman estimators.
* @author Romain Gerbaud
* @author Maxime Journot
* @author Luc Maisonobe
* @since 11.3
*/
public abstract class AbstractKalmanEstimator {
/** List of propagator builder. */
private final List<? extends PropagatorBuilder> builders;
/**
* Constructor.
* @param builders list of propagator builders
*/
protected AbstractKalmanEstimator(final List<? extends PropagatorBuilder> builders) {
this.builders = builders;
}
/** Get the orbital parameters supported by this estimator.
* <p>
* If there are more than one propagator builder, then the names
* of the drivers have an index marker in square brackets appended
* to them in order to distinguish the various orbits. So for example
* with one builder generating Keplerian orbits the names would be
* simply "a", "e", "i"... but if there are several builders the
* names would be "a[0]", "e[0]", "i[0]"..."a[1]", "e[1]", "i[1]"...
* </p>
* @param estimatedOnly if true, only estimated parameters are returned
* @return orbital parameters supported by this estimator
*/
public ParameterDriversList getOrbitalParametersDrivers(final boolean estimatedOnly) {
final ParameterDriversList estimated = new ParameterDriversList();
for (int i = 0; i < builders.size(); ++i) {
final String suffix = builders.size() > 1 ? "[" + i + "]" : null;
for (final ParameterDriver driver : builders.get(i).getOrbitalParametersDrivers().getDrivers()) {
if (driver.isSelected() || !estimatedOnly) {
if (suffix != null && !driver.getName().endsWith(suffix)) {
// we add suffix only conditionally because the method may already have been called
// and suffixes may have already been appended
driver.setName(driver.getName() + suffix);
}
estimated.add(driver);
}
}
}
return estimated;
}
/** Get the propagator parameters supported by this estimator.
* @param estimatedOnly if true, only estimated parameters are returned
* @return propagator parameters supported by this estimator
*/
public ParameterDriversList getPropagationParametersDrivers(final boolean estimatedOnly) {
final ParameterDriversList estimated = new ParameterDriversList();
for (PropagatorBuilder builder : builders) {
for (final DelegatingDriver delegating : builder.getPropagationParametersDrivers().getDrivers()) {
if (delegating.isSelected() || !estimatedOnly) {
for (final ParameterDriver driver : delegating.getRawDrivers()) {
estimated.add(driver);
}
}
}
}
return estimated;
}
/** Get the current measurement number.
* @return current measurement number
*/
public int getCurrentMeasurementNumber() {
return getKalmanEstimation().getCurrentMeasurementNumber();
}
/** Get the current date.
* @return current date
*/
public AbsoluteDate getCurrentDate() {
return getKalmanEstimation().getCurrentDate();
}
/** Get the "physical" estimated state (i.e. not normalized)
* <p>
* For the Semi-analytical Kalman Filters
* it corresponds to the corrected filter correction.
* In other words, it doesn't represent an orbital state.
* </p>
* @return the "physical" estimated state
*/
public RealVector getPhysicalEstimatedState() {
return getKalmanEstimation().getPhysicalEstimatedState();
}
/** Get the "physical" estimated covariance matrix (i.e. not normalized)
* @return the "physical" estimated covariance matrix
*/
public RealMatrix getPhysicalEstimatedCovarianceMatrix() {
return getKalmanEstimation().getPhysicalEstimatedCovarianceMatrix();
}
/** Get the list of estimated measurements parameters.
* @return the list of estimated measurements parameters
*/
public ParameterDriversList getEstimatedMeasurementsParameters() {
return getKalmanEstimation().getEstimatedMeasurementsParameters();
}
/** Get the provider for kalman filter estimations.
* @return the provider for Kalman filter estimations
*/
protected abstract KalmanEstimation getKalmanEstimation();
}