Coverage for src/gncpy/filters/sqkf_gaussian_scale_mixture_filter.py: 100%

1from gncpy.filters.qkf_gaussian_scale_mixture_filter import QKFGaussianScaleMixtureFilter 

2from gncpy.filters.square_root_qkf import SquareRootQKF 

3 

4 

5class SQKFGaussianScaleMixtureFilter(QKFGaussianScaleMixtureFilter): 

6 """Implementation of a SQKF Gaussian Scale Mixture filter. 

7 

8 This is provided for documentation purposes. It functions the same as 

9 the :class:`.QKFGaussianScaleMixtureFilter` class. 

10 

11 Notes 

12 ----- 

13 This is based on the derivation in 

14 :cite:`VilaValls2012_NonlinearBayesianFilteringintheGaussianScaleMixtureContext`. 

15 """ 

16 

17 def __init__(self, **kwargs): 

18 """Initialize the object.""" 

19 super().__init__(**kwargs) 

20 

21 self._coreFilter = SquareRootQKF() 

22 

23 def set_state_model(self, **kwargs): 

24 """Wrapper for the core filter; see :meth:`.SquareRootQKF.set_state_model` for details.""" 

25 super().set_state_model(**kwargs) 

26 

27 def set_measurement_model(self, **kwargs): 

28 """Wrapper for the core filter; see :meth:`.SquareRootQKF.set_measurement_model` for details.""" 

29 super().set_measurement_model(**kwargs)