matlab/cubature_2examples_2linear2_8m_source.html

 clear all;
 addpath('..');
 addpath('../../discrete_discrete');
 addpath('../../discrete_discrete/examples');

 linear;
 close all;

 C_func = @(x) C*x;
 [estimates_cubature, covariances_cubature] = cubature(func,dt,t_start,state_count,sensor_count,...
     outputs,C_func,chol(Q_d)',chol(R_d)',chol(P_0)',x_0, measurements);
cubature
function cubature(in f_func, in dt_between_measurements, in start_time, in state_count, in sensor_count, in measurement_count, in C_func, in Q_root, in R_root, in P_0_root, in x_0, in measurements)