partial function updateBase extends Modelica.Icons.Function; import Modelica; import Modelica_LinearSystems2; input Modelica_LinearSystems2.DiscreteStateSpace.Internal.hBase hSigma; 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 R[:, size(R, 1)] "Covariance matrix of the measurement 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(R, 1)] "Predicted mean"; output Real Ryy[size(R, 1), size(R, 1)] "Transformed covariance matrix"; output Real Rxy[size(xpre, 1), size(R, 1)] "Transformed cross covariance matrix"; end updateBase;