AbstractUnscentedTransform (Hipparchus::Core 4.0.2 API)

java.lang.Object
- org.hipparchus.util.AbstractUnscentedTransform

All Implemented Interfaces:

UnscentedTransformProvider

Direct Known Subclasses:

JulierUnscentedTransform, MerweUnscentedTransform
```
public abstract class AbstractUnscentedTransform
extends Object
implements UnscentedTransformProvider
```
Base class for unscented transform providers.

Since:

2.2

Constructor Summary

Constructors
Modifier Constructor Description

protected AbstractUnscentedTransform(int stateDim)
Constructor.

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method	Description
`protected abstract double`	`getMultiplicationFactor()`	Get the factor applied to the covariance matrix during the unscented transform.
`RealVector[]`	`unscentedTransform(RealVector state, RealMatrix covariance)`	Perform the unscented transform from a state and its covariance.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.hipparchus.util.UnscentedTransformProvider
getUnscentedCovariance, getUnscentedMeanState, getWc, getWm, inverseUnscentedTransform

- Constructor Detail
  - AbstractUnscentedTransform
```
protected AbstractUnscentedTransform(int stateDim)
```
    Constructor.
    
    Parameters:
    
    stateDim - the dimension of the state
- Method Detail
  - unscentedTransform
```
public RealVector[] unscentedTransform(RealVector state,
                                       RealMatrix covariance)
```
    Perform the unscented transform from a state and its covariance.
    Let n be the state dimension and Si be the ith row of the covariance matrix square root. The returned array is organized as follow. Element 0 contains the process state, also called the mean state. Elements from 1 to n contain the process state + Si. Finally, elements from n + 1 to 2n contain the process state - Si
    
    Specified by:
    
    unscentedTransform in interface UnscentedTransformProvider
    
    Parameters:
    
    state - process state
    
    covariance - covariance associated with the process state
    
    Returns:
    
    an array containing the sigma points of the unscented transform
  - getMultiplicationFactor
```
protected abstract double getMultiplicationFactor()
```
    Get the factor applied to the covariance matrix during the unscented transform.
    
    Returns:
    
    the factor applied to the covariance matrix during the unscented transform