partial function predictBase
extends Modelica.Icons.Function;
import Modelica;
import Modelica_LinearSystems2;
input Modelica_LinearSystems2.DiscreteStateSpace.Internal.fBase fSigma;
input Real xpre[:] "Estimated vector of previous instant";
input Real upre[:] "Input at instant k";
input Real Ppre[size(xpre, 1), size(xpre, 1)] "Error covariance matrix of the previous instant";
input Real Q[size(Ppre, 1), size(Ppre, 1)] "Covariance matrix of the process noise";
input Real alpha = 1 "Spread of sigma points";
input Real beta = 2 "Characteristic of the distribution of x";
input Real kappa = 0 "Kurtosis scaling of sigma point distribution";
input Modelica.Units.SI.Time Ts "Sample time";
output Real mu[size(xpre, 1)] "Predicted mean";
output Real Pk[size(xpre, 1), size(xpre, 1)] "Transformed covariance matrix";
end predictBase;