ukf_nmcda_predict

UKF_NMCDA_PREDICT  UKF/NMCDA Prediction step

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

 Author:
   Simo Särkkä, 2003

 In:
   S     - 1xN cell array of particle structures
   a     - Mean prediction function as inline
           function or name of function in
           form a(x,param).                (optional, default A(x,i)*X)
   Q     - Process noise of discrete model     (optional, default zero)
   param - Parameters of a
 
 Out:
   S     - 1xN cell array of predicted particle structures

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

 See also:
   UKF_NMCDA_INIT, UKF_NMCDA_UPDATE, UKF_PREDICT1