
and if they are all persistent. In this case, you can use
<tt>kalman_inf_engine</tt>.
For more general linear-gaussian models, you can use
<tt>jtree_dbn_inf_engine</tt> or <tt>jtree_unrolled_dbn_inf_engine</tt>.

<p>
For nonlinear systems with Gaussian noise, the unscented Kalman filter (UKF),
due to Julier and Uhlmann, is far superior to the well-known extended Kalman
filter (EKF), both in theory and practice.
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See
<A HREF="http://phoebe.robots.ox.ac.uk/default.html">"A General Method for 
Approximati