def __init__(self, lz, Az=None, fz=None, Qz=None,
C=None, hz=None, R=None, **kwargs):
self.kf = kalman.KalmanSmoother(lz, A=Az, C=C,
Q=Qz, R=R,
f_k=fz, h_k=hz)
super(RBPFBase, self).__init__(**kwargs)
def __init__(self, z0, P0, A=None, C=None, Q=None,
R=None, f=None, h=None, params=None, **kwargs):
self.z0 = numpy.copy(z0).reshape((-1, 1))
self.P0 = numpy.copy(P0)
if (f is None):
f = numpy.zeros_like(self.z0)
self.kf = kalman.KalmanSmoother(lz=len(self.z0),
A=A, C=C,
Q=Q, R=R,
f_k=f, h_k=h)
super(LTV, self).__init__(**kwargs)