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;