torchfilter.base._kalman_filter_measurement_model
Private module; avoid importing from directly.
Module Contents
Classes
Helper class that provides a standard way to create an ABC using |
- class torchfilter.base._kalman_filter_measurement_model.KalmanFilterMeasurementModel(*, state_dim, observation_dim)[source]
Bases:
abc.ABC,torch.nn.Module
Helper class that provides a standard way to create an ABC using inheritance.
- state_dim
State dimensionality.
- Type:
int
- observation_dim
Observation dimensionality.
- Type:
int
- abstract forward(self, *, states: types.StatesTorch) Tuple[types.ObservationsNoDictTorch, types.ScaleTrilTorch][source]
Observation model forward pass, over batch size
N.- Parameters:
states (torch.Tensor) – States to pass to our observation model. Shape should be
(N, state_dim).- Returns:
Tuple[torch.Tensor, torch.Tensor] – tuple containing expected observations and cholesky decomposition of covariance. Shape should be
(N, M).