import numpy as np
from ..base import Property
from ..models.measurement.nonlinear import CartesianToElevationBearing
from ..sensor.sensor import SimpleSensor
from ..types.array import CovarianceMatrix
from ..types.groundtruth import GroundTruthState
[docs]class PassiveElevationBearing(SimpleSensor):
"""A simple passive sensor that generates measurements of targets, using a
:class:`~.CartesianToElevationBearing` model, relative to its position.
Note
----
The current implementation of this class assumes a 3D Cartesian plane.
"""
ndim_state: int = Property(
doc="Number of state dimensions. This is utilised by (and follows in\
format) the underlying :class:`~.CartesianToElevationBearing`\
model")
mapping: np.ndarray = Property(
doc="Mapping between the targets state space and the sensors\
measurement capability")
noise_covar: CovarianceMatrix = Property(
doc="The sensor noise covariance matrix. This is utilised by\
(and follow in format) the underlying \
:class:`~.CartesianToElevationBearing` model")
@property
def measurement_model(self):
return CartesianToElevationBearing(
ndim_state=self.ndim_state,
mapping=self.mapping,
noise_covar=self.noise_covar,
translation_offset=self.position,
rotation_offset=self.orientation)
def is_detectable(self, state: GroundTruthState) -> bool:
return True