Models¶
Module containing model classes to be used with pengu-track detectors and filters.
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class
PenguTrack.Models.
AR
(*args, **kwargs)[source]¶ This Class describes an auto-regressive model.
- Variables
Order (int) – Order of the AR-Process. Order = 1 equals an AR1-Process.
Coefficients (np.asarray) – Coefficients of the AR-Process. These describe the time-dependent behaviour of the model.
State_dim (int) – Number of entries in the state-vector.
Control_dim (int) – Number of entries in the control-vector.
Meas_dim (int) – Number of entries in the measurement-vector.
Evolution_dim (int) – Number of entries in the evolution-vector.
Opt_Params (list of strings) – Parameters of model, which can be optimized.
Opt_Params_Shape (dict) – Keys are Opt_Params, entries are tuples containing shapes of the corresponding Parameters.
Opt_Params_Borders (dict) – Keys are Opt_Params, entries are tuples containing borders of the corresponding Parameters.
Initial_Args (list) – The arguments, which were given in the init function.
Initial_KWArgs (dict) – The keyword-arguments, which were given in the init function.
State_Matrix (np.asarray) – The evolution-matrix of the unperturbed system.
Control_Matrix (np.asarray) – The evolution-matrix, which shows the influence of external control.
Measurement_Matrix (np.asarray) – The matrix, which shows how the state vectors are projected into a measurement vector.
Evolution_Matrix (np.asarray) – The matrix, which shows the influence of statistical fluctuations to the state.
Measured_Variables (list) – List of variables, that are measured within the model.
State_Variables (list) – List of variables, that are tracked within the model.
Extensions (list) – List of measured parameters not included in standard model.
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class
PenguTrack.Models.
Ballistic
(*args, **kwargs)[source]¶ This Class describes an simple ballistic model.
- Variables
Damping (np.asarray) – Damping constant(s) for ballistic model.
Mass (float) – Mass of Object.
Timeconst (float) – Step-width of time-discretization.
State_dim (int) – Number of entries in the state-vector.
Control_dim (int) – Number of entries in the control-vector.
Meas_dim (int) – Number of entries in the measurement-vector.
Evolution_dim (int) – Number of entries in the evolution-vector.
Opt_Params (list of strings) – Parameters of model, which can be optimized.
Opt_Params_Shape (dict) – Keys are Opt_Params, entries are tuples containing shapes of the corresponding Parameters.
Opt_Params_Borders (dict) – Keys are Opt_Params, entries are tuples containing borders of the corresponding Parameters.
Initial_Args (list) – The arguments, which were given in the init function.
Initial_KWArgs (dict) – The keyword-arguments, which were given in the init function.
State_Matrix (np.asarray) – The evolution-matrix of the unperturbed system.
Control_Matrix (np.asarray) – The evolution-matrix, which shows the influence of external control.
Measurement_Matrix (np.asarray) – The matrix, which shows how the state vectors are projected into a measurement vector.
Evolution_Matrix (np.asarray) – The matrix, which shows the influence of statistical fluctuations to the state.
Measured_Variables (list) – List of variables, that are measured within the model.
State_Variables (list) – List of variables, that are tracked within the model.
Extensions (list) – List of measured parameters not included in standard model.
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class
PenguTrack.Models.
BallisticWSpeed
(*args, **kwargs)[source]¶ This Class describes a simple model, assuming slow changing speed-vectors.
- Variables
Damping (np.asarray) – Damping constant(s) for ballistic model.
Timeconst (float) – Step-width of time-discretization.
State_dim (int) – Number of entries in the state-vector.
Control_dim (int) – Number of entries in the control-vector.
Meas_dim (int) – Number of entries in the measurement-vector.
Evolution_dim (int) – Number of entries in the evolution-vector.
Opt_Params (list of strings MultiKal.Model.optimize(state_dict[0])) – Parameters of model, which can be optimized.
Opt_Params_Shape (dict) – Keys are Opt_Params, entries are tuples containing shapes of the corresponding Parameters.
Opt_Params_Borders (dict) – Keys are Opt_Params, entries are tuples containing borders of the corresponding Parameters.
Initial_Args (list) – The arguments, which were given in the init function.
Initial_KWArgs (dict) – The keyword-arguments, which were given in the init function.
State_Matrix (np.asarray) – The evolution-matrix of the unperturbed system.
Control_Matrix (np.asarray) – The evolution-matrix, which shows the influence of external control.
Measurement_Matrix (np.asarray) – The matrix, which shows how the state vectors are projected into a measurement vector.
Evolution_Matrix (np.asarray) – The matrix, which shows the influence of statistical fluctuations to the state.
Measured_Variables (list) – List of variables, that are measured within the model.
State_Variables (list) – List of variables, that are tracked within the model.
Extensions (list) – List of measured parameters not included in standard model.
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class
PenguTrack.Models.
MA
(*args, **kwargs)[source]¶ This Class describes an moving-average model.
- Variables
Order (int) – Order of the MA-Process. Order = 1 equals an MA1-Process.
Coefficients (np.asarray) – Coefficients of the AR-Process. These describe the time-dependent behaviour of the model.
State_dim (int) – Number of entries in the state-vector.
Control_dim (int) – Number of entries in the control-vector.
Meas_dim (int) – Number of entries in the measurement-vector.
Evolution_dim (int) – Number of entries in the evolution-vector.
Opt_Params (list of strings) – Parameters of model, which can be optimized.
Opt_Params_Shape (dict) – Keys are Opt_Params, entries are tuples containing shapes of the corresponding Parameters.
Opt_Params_Borders (dict) – Keys are Opt_Params, entries are tuples containing borders of the corresponding Parameters.
Initial_Args (list) – The arguments, which were given in the init function.
Initial_KWArgs (dict) – The keyword-arguments, which were given in the init function.
State_Matrix (np.asarray) – The evolution-matrix of the unperturbed system.
Control_Matrix (np.asarray) – The evolution-matrix, which shows the influence of external control.
Measurement_Matrix (np.asarray) – The matrix, which shows how the state vectors are projected into a measurement vector.
Evolution_Matrix (np.asarray) – The matrix, which shows the influence of statistical fluctuations to the state.
Measured_Variables (list) – List of variables, that are measured within the model.
State_Variables (list) – List of variables, that are tracked within the model.
Extensions (list) – List of measured parameters not included in standard model.
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class
PenguTrack.Models.
Model
(*args, **kwargs)[source]¶ This Class describes the abstract function of a physical model in the pengu-track package. It is only meant for subclassing.
- Variables
State_dim (int) – Number of entries in the state-vector.
Control_dim (int) – Number of entries in the control-vector.
Meas_dim (int) – Number of entries in the measurement-vector.
Evolution_dim (int) – Number of entries in the evolution-vector.
Opt_Params (list of strings) – Parameters of model, which can be optimized.
Opt_Params_Shape (dict) – Keys are Opt_Params, entries are tuples containing shapes of the corresponding Parameters.
Opt_Params_Borders (dict) – Keys are Opt_Params, entries are tuples containing borders of the corresponding Parameters.
Initial_Args (list) – The arguments, which were given in the init function.
Initial_KWArgs (dict) – The keyword-arguments, which were given in the init function.
State_Matrix (np.asarray) – The evolution-matrix of the unperturbed system.
Control_Matrix (np.asarray) – The evolution-matrix, which shows the influence of external control.
Measurement_Matrix (np.asarray) – The matrix, which shows how the state vectors are projected into a measurement vector.
Evolution_Matrix (np.asarray) – The matrix, which shows the influence of statistical fluctuations to the state.
Measured_Variables (list) – List of variables, that are measured within the model.
State_Variables (list) – List of variables, that are tracked within the model.
Extensions (list) – List of measured parameters not included in standard model.
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evolute
(random_vector, state_vector=None)[source]¶ Function to predict next measurement from current state.
- Parameters
random_vector (array_like) – Vector containing the statistical fluctuations.
state_vector (array_like, optional) – Latest state vector.
- Returns
state (np.asarray) – Calculated state vector.
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infer_state
(meas_vector)[source]¶ Tries to infer state from measurement.
- Parameters
meas_vector (array_like) – Vector containing the measurement.
- Returns
state (np.asarray) – Calculated state vector.
- Raises
LinAlgError – If the state can not be inferred do to singularity in a matrix-inversion.
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measure
(state_vector)[source]¶ Function to predict next measurement from current state.
- Parameters
state_vector (array_like) – Latest state vector.
- Returns
measurement (np.asarray) – Expected measurement vector.
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class
PenguTrack.Models.
RandomWalk
(*args, **kwargs)[source]¶ This Class describes an easy random walk model.
- Variables
State_dim (int) – Number of entries in the state-vector.
Control_dim (int) – Number of entries in the control-vector.
Meas_dim (int) – Number of entries in the measurement-vector.
Evolution_dim (int) – Number of entries in the evolution-vector.
Opt_Params (list of strings) – Parameters of model, which can be optimized.
Opt_Params_Shape (dict) – Keys are Opt_Params, entries are tuples containing shapes of the corresponding Parameters.
Opt_Params_Borders (dict) – Keys are Opt_Params, entries are tuples containing borders of the corresponding Parameters.
Initial_Args (list) – The arguments, which were given in the init function.
Initial_KWArgs (dict) – The keyword-arguments, which were given in the init function.
State_Matrix (np.asarray) – The evolution-matrix of the unperturbed system.
Control_Matrix (np.asarray) – The evolution-matrix, which shows the influence of external control.
Measurement_Matrix (np.asarray) – The matrix, which shows how the state vectors are projected into a measurement vector.
Evolution_Matrix (np.asarray) – The matrix, which shows the influence of statistical fluctuations to the state.
Measured_Variables (list) – List of variables, that are measured within the model.
State_Variables (list) – List of variables, that are tracked within the model.
Extensions (list) – List of measured parameters not included in standard model.
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class
PenguTrack.Models.
VariableSpeed
(*args, **kwargs)[source]¶ This Class describes a simple model, assuming slow changing speed-vectors.
- Variables
Damping (np.asarray) – Damping constant(s) for ballistic model.
Timeconst (float) – Step-width of time-discretization.
State_dim (int) – Number of entries in the state-vector.
Control_dim (int) – Number of entries in the control-vector.
Meas_dim (int) – Number of entries in the measurement-vector.
Evolution_dim (int) – Number of entries in the evolution-vector.
Opt_Params (list of strings MultiKal.Model.optimize(state_dict[0])) – Parameters of model, which can be optimized.
Opt_Params_Shape (dict) – Keys are Opt_Params, entries are tuples containing shapes of the corresponding Parameters.
Opt_Params_Borders (dict) – Keys are Opt_Params, entries are tuples containing borders of the corresponding Parameters.
Initial_Args (list) – The arguments, which were given in the init function.
Initial_KWArgs (dict) – The keyword-arguments, which were given in the init function.
State_Matrix (np.asarray) – The evolution-matrix of the unperturbed system.
Control_Matrix (np.asarray) – The evolution-matrix, which shows the influence of external control.
Measurement_Matrix (np.asarray) – The matrix, which shows how the state vectors are projected into a measurement vector.
Evolution_Matrix (np.asarray) – The matrix, which shows the influence of statistical fluctuations to the state.
Measured_Variables (list) – List of variables, that are measured within the model.
State_Variables (list) – List of variables, that are tracked within the model.
Extensions (list) – List of measured parameters not included in standard model.