% Dynamical model function for the random sine signal demo% Copyright (C) 2007 Jouni Hartikainen%% This software is distributed under the GNU General Public % Licence (version 2 or later); please refer to the file % Licence.txt, included with the software, for details.function x_n = ekf_sine_f(x,param)    dt = param(1);    A = [1 dt 0;0 1 0;0 0 1];    x_n = A*x(1:3,:);    if size(x,1) == 7 || size(x,1) == 6        x_n(1:3,:) = x_n(1:3,:) + x(4:6,:);    end