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/*
* Copyright (C) 2010
* Mayte Lázaro, Alejandro R. Mosteo
*
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/


#include "sub_opt.hh"


void CalculateEstimationEIFnn(Matrix Fk, Matrix Nk, Matrix &x, Matrix &P){

P = !Fk;
x = P * Nk;

for (unsigned int i = 0; i < x.RowNo(); i++)
x(i,0) *= -1;
}

void EIFnn(Matrix H, Matrix G, Matrix h, Matrix S, Matrix &F, Matrix &N){

Matrix R = ~H * !(G * S * ~G);

F = R * H;
N = R * h;
}
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