function [y] = ukf_hfun(x,u,n,t);% PURPOSE : Measurement model function fpr UKF.% INPUTS  : - x:  Hidden state%         : - u:  control vector  %           - n:  Measurement noise%           - t:  time index or itegration constant% OUTPUTS : - y:  Observation of state% AUTHORS  : % DATE     : if nargin < 3, error('Not enough input arguments.'); endy = hfun(x,t) + n;