public void predict(double delta)
{
Contract.Ensures(Contract.Result <Matrix>() != null);
Matrix next = (Prediction_model.pre_matrix(n, delta) * this.c_state.Matrix_tranpose());
this.p_state = next;
}
public void transform_cov(double delta)
{
this.cov = Prediction_model.pre_matrix(n, delta) * this.cov * Prediction_model.pre_matrix(n, delta).Matrix_tranpose();
}