ukf_mcda_predict

UKF_MCDA_PREDICT  UKF Monte Carlo Data Association Prediction

 Syntax:
   S = UKF_MCDA_PREDICT(S,a,Q,param)

 In:
   S     - 1xN cell array of particle structures
   a     - Dynamical model as cell array
           of size TxN, for each target in each particle,
           or inline function or name of function in
           form a(x,param).                 (optional, default A(x,i)*X)
   Q     - Process noise of discrete model as numeric matrix
           if common for all targets, or as cell array
           of size TxN for all targets and particles
           separately.                      (optional, default zero)
   param - parameters of a

 Out:
   S     - 1xN cell array of predicted particle structures
   
 Description:
   Perform Unscented Kalman Filter prediction step for each target
   and each association hypothesis particle. The model is

     x_i[k] = a_i(x_i[k-1],param)

   for each target i. Dynamics a_i() for each target
   are assumed to have known statistics.

 See also:
   UKF_MCDA_UPDATE