kf_nmcda_predict

KF_NMCDA_PREDICT  KF/NMCDA Prediction step

 Syntax:
   S = kf_nmcda_predict(S,A,Q,B,u)

 Author:
   Simo Särkkä, 2003

 In:
   S - 1xNP cell array of particle structures
   A - Transition matrix of dynamic model  (optional, default identity)
   Q - Process noise of dynamic model      (optional, default zero)
   B - Input effect matrix                 (optional, default identity)
   u - Constant input                      (optional, default empty)
 
 Out:
   S - 1xNP cell array of updated particle structures

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

 See also:
   KF_NMCDA_INIT, KF_NMCDA_UPDATE, KF_PREDICT