% 
% Written by:
% -- 
% John L. Weatherwax                2009-04-21
% 
% email: wax@alum.mit.edu
% 
% Please send comments and especially bug reports to the
% above email address.
% 
%-----

close all; 
clc; 
clear; 

n = 4; 
H = create_H_matrix(n)

% compute the Kalman filtering weights: 
%
W = ( H.' * H ) \ ( H.'); 
disp( 'full weight matrix' ); 
disp( W ); 

% Extract every other elment 
Wdown = W(:,1:2:end);
disp( 'column downsampled weight matrix' ); 
disp( Wdown )