/** \brief Compute the inovvation term
*
* @param mtInnovation - Class, holding innovation data.
* @param state - Filter %State.
* @param meas - Not Used.
* @param noise - Additive discrete Gaussian noise.
* @param dt - Not used.
*/
void eval(mtInnovation& y, const mtState& state, const mtMeas& meas, const mtNoise noise, double dt = 0.0) const{
y.template get<mtInnovation::_vel>() = state.MvM()+noise.template get<mtInnovation::_vel>();
}
/** \brief Compute the inovvation term
*
* @param mtInnovation - Class, holding innovation data.
* @param state - Filter %State.
* @param meas - Not Used.
* @param noise - Additive discrete Gaussian noise.
* @param dt - Not used.
*/
void evalInnovation(mtInnovation& y, const mtState& state, const mtNoise& noise) const{
y.template get<mtInnovation::_vel>() = state.MvM()+noise.template get<mtInnovation::_vel>();
}