agi.foundation.coordinates

(agi.foundation.core-2024r3.jar)

Class Covariance3By3SizeAndOrientation

java.lang.Object

agi.foundation.coordinates.Covariance3By3SizeAndOrientation

public class Covariance3By3SizeAndOrientation
extends Object

Holds the positional variance and covariance information for an object.

Constructor Summary

Constructors

Constructor and Description
Covariance3By3SizeAndOrientation(Cartesian sigmas, UnitQuaternion rotation) Initializes a new Covariance3By3SizeAndOrientation object from the sigmas and a rotation.
Covariance3By3SizeAndOrientation(Matrix3By3Symmetric matrix) Initializes a new Covariance3By3SizeAndOrientation object from a symmetrical matrix.
Covariance3By3SizeAndOrientation(Matrix6By6 matrix) Initializes a new Covariance3By3SizeAndOrientation object a Matrix6By6 that contains position and velocity covariance information.
Covariance3By3SizeAndOrientation(Matrix6By6Symmetric matrix) Initializes a new Covariance3By3SizeAndOrientation object from a Matrix6By6Symmetric that contains position and velocity covariance information.

Method Summary

Modifier and Type	Method and Description
static DateMotionCollection2<Covariance3By3SizeAndOrientation,Covariance3By3Derivative>	constructDateMotionCollectionFromMatrix3By3Collection(DateMotionCollection1<Matrix3By3> covarianceMatrices) Converts a DateMotionCollection1 of Matrix3By3 into a DateMotionCollection1.
static DateMotionCollection2<Covariance3By3SizeAndOrientation,Covariance3By3Derivative>	constructDateMotionCollectionFromMatrixCollection(DateMotionCollection1<Matrix> covarianceMatrices) Converts a DateMotionCollection1 of Matrix into a DateMotionCollection1.
boolean	equals(Covariance3By3SizeAndOrientation other) Indicates whether another instance of this type is exactly equal to this instance.
boolean	equals(Object obj) Indicates whether another object is exactly equal to this instance.
UnitQuaternion	getRotation() Gets the UnitQuaternion describing the rotation from the axes of the Covariance Ellipsoid to a reference axes.
Cartesian	getSigmas() Gets the Cartesian with the sigma values of the transformed Covariance Matrix.
int	hashCode() Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.
Matrix3By3	toMatrix3By3() Gets the covariance matrix that corresponds to the sigma and orientation information.
Matrix3By3Symmetric	toMatrix3By3Symmetric() Gets the covariance matrix that corresponds to the sigma and orientation information.
String	toString() Returns the string representation of the value of this instance.

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

Covariance3By3SizeAndOrientation

public Covariance3By3SizeAndOrientation(@Nonnull
                                        Matrix3By3Symmetric matrix)

Initializes a new Covariance3By3SizeAndOrientation object from a symmetrical matrix.

Parameters:

matrix - The Matrix3By3Symmetric of the covariance elements.

Covariance3By3SizeAndOrientation

public Covariance3By3SizeAndOrientation(@Nonnull
                                        Matrix6By6 matrix)

Initializes a new Covariance3By3SizeAndOrientation object a Matrix6By6 that contains position and velocity covariance information. Only the position information (the upper left 3-by-3 portion) is used. The velocity related information is ignored.

Parameters:

matrix - The position and velocity covariance matrix.

Throws:

ArgumentNullException - Thrown when matrix is null.

Covariance3By3SizeAndOrientation

public Covariance3By3SizeAndOrientation(@Nonnull
                                        Matrix6By6Symmetric matrix)

Initializes a new Covariance3By3SizeAndOrientation object from a Matrix6By6Symmetric that contains position and velocity covariance information. Only the position information (the upper left 3-by-3 triangular portion) is used. The velocity related information is ignored.

Parameters:

matrix - The position and velocity covariance matrix.

Throws:

ArgumentNullException - Thrown when matrix is null.

Covariance3By3SizeAndOrientation

public Covariance3By3SizeAndOrientation(@Nonnull
                                        Cartesian sigmas,
                                        @Nonnull
                                        UnitQuaternion rotation)

Initializes a new Covariance3By3SizeAndOrientation object from the sigmas and a rotation.

Parameters:

sigmas - The sigmas.

rotation - The rotation from the frame where the covariances (not the variances) are zero to the original frame.

Method Detail

toMatrix3By3

@Nonnull
public final Matrix3By3 toMatrix3By3()

Gets the covariance matrix that corresponds to the sigma and orientation information.

Returns:

The Covariance information as a Matrix3By3.

toMatrix3By3Symmetric

@Nonnull
public final Matrix3By3Symmetric toMatrix3By3Symmetric()

Gets the covariance matrix that corresponds to the sigma and orientation information.

Returns:

The Covariance information as a Matrix3By3Symmetric.

equals

public boolean equals(Object obj)

Indicates whether another object is exactly equal to this instance.

Overrides:

equals in class Object

Parameters:

obj - The object to compare to this instance.

Returns:

true if obj is an instance of this type and represents the same value as this instance; otherwise false.

See Also:

Object.hashCode(), HashMap

equals

public final boolean equals(Covariance3By3SizeAndOrientation other)

Indicates whether another instance of this type is exactly equal to this instance.

Parameters:

other - The instance to compare to this instance.

Returns:

true if other represents the same value as this instance; otherwise false.

hashCode

public int hashCode()

Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.

Overrides:

hashCode in class Object

Returns:

A hash code for the current object.

See Also:

Object.equals(java.lang.Object), System.identityHashCode(java.lang.Object)

toString

public String toString()

Returns the string representation of the value of this instance.

Overrides:

toString in class Object

Returns:

A string that represents the value of this instance in the form "Sigmas.X", Sigmas.Y, Sigmas.Z : Rotation.W, Rotation.X, Rotation.Y, Rotation.Z".

constructDateMotionCollectionFromMatrix3By3Collection

@Nonnull
public static DateMotionCollection2<Covariance3By3SizeAndOrientation,Covariance3By3Derivative> constructDateMotionCollectionFromMatrix3By3Collection(@Nonnull
                                                                                                                                                               DateMotionCollection1<Matrix3By3> covarianceMatrices)

Converts a DateMotionCollection1 of Matrix3By3 into a DateMotionCollection1.

Parameters:

covarianceMatrices - The covariance matrices to convert.

Returns:

A DateMotionCollection1.

Throws:

ArgumentNullException - Thrown when covarianceMatrices is null.

constructDateMotionCollectionFromMatrixCollection

@Nonnull
public static DateMotionCollection2<Covariance3By3SizeAndOrientation,Covariance3By3Derivative> constructDateMotionCollectionFromMatrixCollection(@Nonnull
                                                                                                                                                           DateMotionCollection1<Matrix> covarianceMatrices)

Converts a DateMotionCollection1 of Matrix into a DateMotionCollection1.

Only the first three rows and columns of the matrices are examined, larger matrices (such as a 6x6 matrix including velocity covariance) can be fed in and the other indices will be ignored.

Parameters:

covarianceMatrices - The covariance matrices to convert.

Returns:

A DateMotionCollection1.

Throws:

ArgumentNullException - Thrown when covarianceMatrices is null.

getRotation

@Nonnull
public final UnitQuaternion getRotation()

Gets the UnitQuaternion describing the rotation from the axes of the Covariance Ellipsoid to a reference axes.

getSigmas

@Nonnull
public final Cartesian getSigmas()

Gets the Cartesian with the sigma values of the transformed Covariance Matrix. These are equal to the square root of the standard deviation of the covariances, and are the semi-axes lengths of the covariance ellipsoid at one standard deviation of uncertainty. To calculate an appropriate multiplicative factor to apply to this value to attain different desired levels of uncertainty use GaussianStatistics.multiDimensionalStandardDeviationFactor(int, double) with a dimension of three.