# predictTracksToTime

Predict tracks to a time stamp

## Syntax

``predictedtracks = predictTracksToTime(tracker,trackID,time)``
``predictedtracks = predictTracksToTime(tracker,category,time)``
``predictedtracks = predictTracksToTime(tracker,category,time,'WithCovariance',tf)``

## Description

````predictedtracks = predictTracksToTime(tracker,trackID,time)` returns the predicted tracks, `predictedtracks`, of the `tracker`, at the specified time, `time`. The tracker or fuser must be updated at least once before calling this object function. Use `isLocked(tracker)` to test whether the tracker or fuser has been updated. NoteThis function only outputs the predicted tracks and does not update the internal track states of the `tracker`. ```

example

````predictedtracks = predictTracksToTime(tracker,category,time)` returns all predicted tracks for a specified category, `category`, of tracked objects.```
````predictedtracks = predictTracksToTime(tracker,category,time,'WithCovariance',tf)` also allows you to specify whether to predict the state covariance of each track or not by setting the `tf` flag to `true` or `false`. Predicting the covariance slows down the prediction process and increases the computation cost, but it provides the predicted track state covariance in addition to the predicted state. The default is false.```

## Examples

collapse all

Create a track from a detection at time $\mathit{t}=0$ second.

```tracker = radarTracker; detection = objectDetection(0,[0;0;0]); tracker(detection,0);```

Predict the track to $\mathit{t}=1$second.

`predictedtracks = predictTracksToTime(tracker,'all',1)`
```predictedtracks = objectTrack with properties: TrackID: 1 BranchID: 0 SourceIndex: 0 UpdateTime: 1 Age: 1 State: [6x1 double] StateCovariance: [6x6 double] StateParameters: [1x1 struct] ObjectClassID: 0 TrackLogic: 'History' TrackLogicState: [1 0 0 0 0] IsConfirmed: 0 IsCoasted: 0 IsSelfReported: 1 ObjectAttributes: [1x1 struct] ```

## Input Arguments

collapse all

Radar tracker, specified as a `radarTracker` object.

Track identifier, specified as a positive integer. Only the track specified by the `trackID` is predicted in the tracker.

Example: `15`

Data Types: `single` | `double`

Prediction time, specified as a scalar. The states of tracks are predicted to this time. The time must be greater than the time input to the tracker in the previous track update. Units are in seconds.

Example: `1.0`

Data Types: `single` | `double`

Track categories, specified as `'all'`, `'confirmed'`, or `'tentative'`. You can choose to predict all tracks, only confirmed tracks, or only tentative tracks.

Data Types: `char`

## Output Arguments

collapse all

List of tracks or branches, returned as:

Data Types: `struct` | `object`

## Version History

Introduced in R2021a