| 53 | } |
| 54 | |
| 55 | Bayes_base::Float |
| 56 | CI_scheme::predict (Linrz_predict_model& f) |
| 57 | { |
| 58 | x = f.f(x); // Extended Kalman state predict is f(x) directly |
| 59 | // Predict state covariance |
| 60 | RowMatrix tempX(f.Fx.size1(), X.size2()); |
| 61 | noalias(X) = prod_SPD(f.Fx,X, tempX); |
| 62 | noalias(X) += prod_SPD(f.G, f.q, tempX); |
| 63 | |
| 64 | return 1; |
| 65 | } |
| 66 | |
| 67 | void CI_scheme::observe_size (std::size_t z_size) |
| 68 | /* Optimised dynamic observation sizing |