60 unsigned int NrIterations,
61 vector<NLSysModel*> minimalsysmodels,
62 vector<NLMeasModel*> minimalmeasmodels,
63 vector<GiNaC::symbol> nonlinearstate = *(
new vector<GiNaC::symbol>));
70 const ColumnVector& u);
72 const ColumnVector& z,
73 const ColumnVector& s);
76 vector<GiNaC::symbol> MinimalState, NonminimalState;
79 Gaussian *NonminimalPrior, *MinimalPrior;
80 NLMeasModel *MinimalMeasModel;
NonminimalKalmanFilter(Gaussian *prior, unsigned int NrIterations, vector< NLSysModel * > minimalsysmodels, vector< NLMeasModel * > minimalmeasmodels, vector< GiNaC::symbol > nonlinearstate= *(new vector< GiNaC::symbol >))