#ifndef __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANFILTER__HXX__
#define __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANFILTER__HXX__

// -------------------------------------------------------------------------
template< typename T >
template< class M >
void cpPlugins::Extensions::Algorithms::KalmanFilter< T >::
Kronecker( M& AkB, const M& A, const M& B )
{
  unsigned int Ar = A.rows( ); unsigned int Ac = A.cols( );
  unsigned int Br = B.rows( ); unsigned int Bc = B.cols( );
  AkB.set_size( Ar * Br, Ac * Bc );

  for( unsigned int ar = 0; ar < Ar; ar++ )
  {
    for( unsigned int ac = 0; ac < Ac; ac++ )
    {
      typename M::element_type vA = A[ ar ][ ac ];
      for( unsigned int br = 0; br < Br; br++ )
      {
        unsigned int rOff = ar + ( br * ( Br - 1 ) );
        for( unsigned int bc = 0; bc < Bc; bc++ )
          AkB[ rOff ][ ac + ( bc * ( Bc - 1 ) ) ] = vA * B[ br ][ bc ];

      } // rof

    } // rof

  } // rof
}

#endif // __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANFILTER__HXX__

// eof - $RCSfile$