ekf_nmcda_predict

EKF_NMCDA_PREDICT  EKF/NMCDA Prediction step

 Syntax:
   S = ekf_nmcda_predict(S,[A,Q,a,AW,param])

 Author:
   Simo Särkkä, 2003

 In:
   S  - Struct array 1xNP of particles
   A  - Derivative of a() with respect to state 
        as matrix, or as inline function or name of
        function in form A(x,param).     (optional, default eye)
   Q  - Process noise of discrete model     (optional, default zero)
   a  - Mean prediction function as inline
        function or name of function in
        form a(x,param).                (optional, default A(x,i)*X)
   AW - Derivative of a() with respect to
        noise q as matrix, or as inline
        function or name of function in
        form AW(x,param).                (optional, default eye)
   param - Parameters of a
 
 Out:
   S - Predicted struct array of particles

 Description:
   Perform prediction step of Rao-Blackwellized Monte Carlo
   Data Association Algorithm with Number of Targets estimation.

 See also:
   EKF_NMCDA_INIT, EKF_NMCDA_UPDATE, EKF_PREDICT