estimator_likelihood.py

from numpy import ndarray
 
from .Estimator.estimator import Estimator
from .PDV.pdv import PDV

class EstimatorLikelihood:
    def __init__(self, λ, k, b, dt, H, Q, R, x0, noisy):
        # State estimator initialization
        self.Estimator = Estimator(λ, k, b, dt, H, Q, R, x0, noisy)

        # Compute scalar likelihood initialization
        self.PDV = PDV()


    def update(self, u: ndarray, z: ndarray):
        _, _, r, A = self.Estimator.update(u, z)
        pdv = self.PDV.update(r, A)

        return pdv