fix: new dynamics

lib/dynamic/composition.js

@@ -1,4 +1,4 @@
-const {registerDynamic, buildDynamic} = require('../model-collection');
+const {buildDynamic} = require('../model-collection');
 
 /**
 * @typedef {Object.<DynamicName, DynamicConfig>} PerNameConfigs
@@ -17,7 +17,7 @@ const {registerDynamic, buildDynamic} = require('../model-collection');
 * @param {Array.<Array.<Number>>} opts.observedProjection
 * @returns {DynamicConfig}
 */
-const composition = function ({perName}, observation) {
+module.exports = function ({perName}, observation) {
 	const {observedProjection} = observation;
 	const observedDynamDimension = observedProjection[0].length;
 
@@ -134,5 +134,3 @@ const composition = function ({perName}, observation) {
 		},
 	};
 };
-
-registerDynamic('composition', composition);

lib/dynamic/index.js

@@ -6,4 +6,5 @@ module.exports = {
 	'constant-position-with-null': require('./constant-position-with-null.js'),
 	'constant-speed-with-null': require('./constant-speed-with-null.js'),
 	'constant-speed-dynamic': require('./constant-speed-dynamic.js'),
+	'shortterm-constant-speed': require('./shortterm-constant-speed.js'),
 };

lib/dynamic/shortterm-constant-speed.js

@@ -25,7 +25,7 @@ const safeDiv = function (a, b) {
 * @param {Number} [options.typicalTime=10]
 * @returns {DynamicConfig}
 */
-const shorttermConstantSpeed = function (options, observation) {
+module.exports = function (options, observation) {
 	const {typicalTimes} = options;
 
 	if (!Array.isArray(typicalTimes)) {
@@ -82,5 +82,3 @@ const shorttermConstantSpeed = function (options, observation) {
 		},
 	};
 };
-
-module.exports = shorttermConstantSpeed;

lib/model-collection.js

@@ -27,8 +27,8 @@ module.exports = {
 	* @returns {ObservationConfig} the configuration with respect to the model
 	*/
 	buildObservation(observation) {
-		if (!registeredObservationModels[observation.name]) {
-			throw (new Error(`The provided observation model name (${observation.name}) is not registered`));
+		if (typeof (registeredObservationModels[observation.name]) !== 'function') {
+			throw (new TypeError(`The provided observation model name (${observation.name}) is not registered`));
 		}
 
 		return registeredObservationModels[observation.name](observation);
@@ -41,8 +41,8 @@ module.exports = {
 	*/
 
 	buildDynamic(dynamic, observation) {
-		if (!registeredDynamicModels[dynamic.name]) {
-			throw (new Error(`The provided dynamic model (${dynamic.name}) name is not registered`));
+		if (typeof (registeredDynamicModels[dynamic.name]) !== 'function') {
+			throw (new TypeError(`The provided dynamic model (${dynamic.name}) name is not registered`));
 		}
 
 		return registeredDynamicModels[dynamic.name](dynamic, observation);

lib/observation/sensor-projected.js

@@ -1,7 +1,6 @@
-const {identity} = require('simple-linalg');
+const {identity, matPermutation} = require('simple-linalg');
 const correlationToCovariance = require('../utils/correlation-to-covariance');
 const covarianceToCorrelation = require('../utils/covariance-to-correlation');
-const buildObservedProjection = require('../utils/build-observed-projection.js');
 
 /**
 *Creates an observation model with a observedProjection corresponding to
@@ -32,12 +31,15 @@ const sensorProjected = function ({selectedCovariance, totalDimension, obsIndexe
 
 	const dynaDimension = selectedStateProjection[0].length;
 
-	const observedProjection = buildObservedProjection({
-		inDimension: dynaDimension,
-		inIndexes: selectedStateProjection[0].map((_, i) => i),
-		outIndexes: obsIndexes,
-		selectedStateProjection,
-		outDimension: totalDimension,
+	if (selectedStateProjection.length !== obsIndexes.length) {
+		throw (new Error(`shape mismatch (${selectedStateProjection.length} vs ${obsIndexes.length})`));
+	}
+
+	const observedProjection = matPermutation({
+		outputSize: [totalDimension, dynaDimension],
+		colIndexes: selectedStateProjection[0].map((_, i) => i),
+		rowIndexes: obsIndexes,
+		matrix: selectedStateProjection,
 	});
 
 	return {

package.json

@@ -96,7 +96,7 @@
   "dependencies": {
     "@rayyamhk/matrix": "^1.0.5",
     "matrix-inverse": "^2.0.0",
-    "simple-linalg": "^1.0.1"
+    "simple-linalg": "^1.2.0"
   },
   "xo": {
     "ignores": [