from collections.abc import Sequence
from .array import StateVectors
from .base import Type
from .hypothesis import Hypothesis, CompositeHypothesis
from .mixture import GaussianMixture
from .state import CreatableFromState, CompositeState, KernelParticleState
from .state import State, GaussianState, ParticleState, EnsembleState, \
SqrtGaussianState, InformationState, CategoricalState, ASDGaussianState, \
WeightedGaussianState, TaggedWeightedGaussianState, \
MultiModelParticleState, RaoBlackwellisedParticleState, BernoulliParticleState
from ..base import Property
[docs]
class Update(Type, CreatableFromState):
""" Update type
The base update class. Updates are returned by :class:'~.Updater' objects
and contain the information that was used to perform the updating"""
hypothesis: Hypothesis = Property(doc="Hypothesis used for updating")
[docs]
class StateUpdate(Update, State):
""" StateUpdate type
Most simple state update type, where everything only has time
and a state vector. Requires a prior state that was updated,
and the hypothesis used to update the prior.
"""
[docs]
class GaussianStateUpdate(Update, GaussianState):
""" GaussianStateUpdate type
This is a simple Gaussian state update object, which, as the name
suggests, is described by a Gaussian distribution.
"""
[docs]
class SqrtGaussianStateUpdate(Update, SqrtGaussianState):
""" SqrtGaussianStateUpdate type
This is equivalent to a Gaussian state update object, but with the
covariance of the Gaussian distribution stored in matrix square root
form.
"""
[docs]
class WeightedGaussianStateUpdate(Update, WeightedGaussianState):
""" WeightedGaussianStateUpdate type
This is a simple Gaussian state update object, which, as the name suggests, is described
by a Gaussian distribution with an associated weight.
"""
[docs]
class TaggedWeightedGaussianStateUpdate(Update, TaggedWeightedGaussianState):
""" TaggedWeightedGaussianStateUpdate type
This is a simple Gaussian state update object, which, as the name suggests, is described
by a Gaussian distribution, with an associated weight and unique tag.
"""
[docs]
class GaussianMixtureUpdate(Update, GaussianMixture):
""" GaussianMixtureUpdate type
This is a Gaussian mixture update object, which, as the name
suggests, is described by a Gaussian mixture.
"""
[docs]
class ASDGaussianStateUpdate(Update, ASDGaussianState):
""" ASDGaussianStateUpdate type
This is a simple ASD Gaussian state update object, which, as the name
suggests, is described by a Gaussian distribution.
"""
[docs]
class ParticleStateUpdate(Update, ParticleState):
"""ParticleStateUpdate type
This is a simple Particle state update object.
"""
[docs]
class MultiModelParticleStateUpdate(Update, MultiModelParticleState):
"""MultiModelStateUpdate type
This is a simple Multi-Model Particle state update object.
"""
[docs]
class RaoBlackwellisedParticleStateUpdate(Update, RaoBlackwellisedParticleState):
"""RaoBlackwellisedStateUpdate type
This is a simple Rao Blackwellised Particle state update object.
"""
[docs]
class BernoulliParticleStateUpdate(Update, BernoulliParticleState):
"""BernoulliStateUpdate type
This is a simple Bernoulli Particle state update object.
"""
[docs]
class KernelParticleStateUpdate(Update, KernelParticleState):
"""KernelParticleStateUpdate type
This is a Kernel Particle state update object.
"""
proposal: StateVectors = Property(default=None,
doc='Kernel covariance value. Default `None`.')
[docs]
class EnsembleStateUpdate(Update, EnsembleState):
"""EnsembleStateUpdate type
This is a simple Ensemble state update object.
"""
[docs]
class CategoricalStateUpdate(Update, CategoricalState):
"""Categorical state prediction type"""
[docs]
class CompositeUpdate(Update, CompositeState):
"""Composite update type
Composition of :class:`~.Update`.
"""
sub_states: Sequence[Update] = Property(
doc="Sequence of sub-updates comprising the composite update. All sub-updates must have "
"matching timestamp. Must not be empty.")
hypothesis: CompositeHypothesis = Property(doc="Hypothesis used for updating")