def default_constant_position_model(dims=3): markov_predict_fn_handle = markov_predict markov_predict_fn_parameters = PARAMETERS() markov_predict_fn_parameters.F = np.eye(dims) markov_predict_fn_parameters.Q = np.eye(dims) markov_predict_fn = fn_params(markov_predict_fn_handle, markov_predict_fn_parameters) obs_fn_handle = None obs_fn_parameters = PARAMETERS() obs_fn_parameters.H = np.eye(dims) obs_fn_parameters.R = np.eye(dims) obs_fn = fn_params(obs_fn_handle, obs_fn_parameters) # Likelihood function - not used here likelihood_fn = fn_params() return (markov_predict_fn, obs_fn, likelihood_fn)