function estimateBase_sr extends Modelica.Icons.Function; import Modelica; import Modelica_LinearSystems2; input Modelica_LinearSystems2.DiscreteStateSpace.Internal.hBase yOut; input Real y[:] "Measured output vector"; input Real xm[:] "Predicted state mean"; input Real ym[size(y, 1)] "Predicted output mean"; input Real u[:] "Input"; input Real CfP[size(xm, 1), size(xm, 1)] "Cholesky factor of covariance matrix"; input Real Syy[size(y, 1), size(Syy, 1)] "Transformed covariance matrix"; input Real Rxy[size(xm, 1), size(y, 1)] "Transformed cross covariance matrix"; input Modelica.Units.SI.Time Ts "Sample time"; output Real K[size(xm, 1), size(y, 1)] "Filter gain"; output Real CfPu[size(xm, 1), size(xm, 1)] "Updated Cholesky factor state covariance matrix"; output Real xmu[size(xm, 1)] "Updated state mean"; output Real ymu[size(y, 1)] "Updated output mean"; end estimateBase_sr;