#ifndef  state_INC
#define  state_INC
#include <Eigen/Dense>
using Eigen::Matrix;
/*
 * =====================================================================================
 *        Class:  State
 *  Description:  
 * =====================================================================================
 */
class State
{
    public:
        /* ====================  LIFECYCLE     ======================================= */
        State (){};                             /* constructor */

        /* ====================  ACCESSORS     ======================================= */

        /* ====================  MUTATORS      ======================================= */

        /* ====================  OPERATORS     ======================================= */
        void Pkk1 ( Matrix<double,9,9> &P, const Matrix<double,9,9> &F,
            const Matrix<double,9,9> &Q );

    protected:
        /* ====================  METHODS       ======================================= */

        /* ====================  DATA MEMBERS  ======================================= */

    private:
        /* ====================  METHODS       ======================================= */

        /* ====================  DATA MEMBERS  ======================================= */

}; /* -----  end of class State  ----- */



#endif   /* ----- #ifndef state_INC  ----- */