ukf_ffun.m

无忌卡尔曼粒子滤波

%/upf_demos/ukf_ffun.m
function [y] = ukf_ffun(x,u,n,t);
% PURPOSE : Process model function for UKF
% INPUTS  : - x:  prior state
%           - u:  control vector  
%           - n:  process noise    
%           - t:  time index
% OUTPUTS : - y:  state after time update

if nargin < 3, error('Not enough input arguments.'); end
y = ffun(x,t) + n;