function [y] = ukf_ffun(x,u,n,t);% PURPOSE : Process model function for UKF% INPUTS  : - x:  prior state%           - u:  control vector  %           - n:  process noise    %           - t:  time index% OUTPUTS : - y:  state after time update% AUTHORS  : % DATE     : if nargin < 3, error('Not enough input arguments.'); endy = ffun(x,t) + n;