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predict

Predict state and state estimation error covariance

Syntax

[xPred,pPred] = predict(filterObj)
[xPred,pPred] = predict(filterObj,tStep)
[xPred,pPred] = predict(filterObj,vargin)
xPred = predict(filterObj)
[xPred,pPred,zPred] = predict(filterObj,tStep)

Description

[xPred,pPred] = predict(filterObj) returns the predicted state and state estimation error covariance at the next time step.

[xPred,pPred] = predict(filterObj,tStep) specifies the time step as a positive scalar in seconds.

[xPred,pPred] = predict(filterObj,vargin) specifies additional parameters used by the state transition function defined in the StateTransitionFcn property of the tracking object.

xPred = predict(filterObj) returns the predicted state at the next time step. The internal state of the input filter object is overwritten by the prediction results. This syntax is only supported for the trackingABF object.

[xPred,pPred,zPred] = predict(filterObj,tStep) also returns the predicted measurement, zPred. This syntax is only supported for the trackingABF object.

Input Arguments

collapse all

Filter for object tracking, specified as an object. Calling the predict overwrites the internal states of the object.

Time step for next prediction, specified as a positive scalar in seconds.

Output Arguments

collapse all

Predicted state of the filter, specified as a vector or matrix. The State property of the input filterObj is overwritten with this value.

Predicted state covariance of the filter, specified as a vector or matrix. The StateCovariance property of the input filterObj is overwritten with this value.

Predicted measurement, specified as a vector or matrix. This output is only supported for the trackingABF object.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2017a