defaultKalman <- new("TimeInvariantKalman")
nparticles(defaultKalman) <- 3

stopifnot(nlatent(defaultKalman) == 2,
          nobserved(defaultKalman) == 2,
          naction(defaultKalman) == 2,
          nsuccess(defaultKalman) == 0)

p3 <- initParam(defaultKalman)

stopifnot(all(dim(p3@Fmat)==c(2,2,3)),
          all(dim(p3@Bmat)==c(2,2,3)),
          all(dim(p3@Hmat)==c(2,2,3)),
          all(dim(p3@Rinv)==c(2,2,3)),
          all(dim(p3@Qmat)==c(2,2,3)),
          all(dim(p3@Amat)==c(2,2,3)),
          all(dim(p3@mu)==c(2,3)))


d35 <- initData(defaultKalman,p3,5)
stopifnot(all(dim(d35)==c(5,2,3)))
          
o35 <- obsGen(defaultKalman,p3,d35)
stopifnot(all(dim(o35)==c(5,2,3)))

## Basic use case, single common observation)
l5 <- obsLike(defaultKalman,p3,o35[,,1],d35)
stopifnot(length(l5)==3)

## Advance use case 1:  Single action for all cases.
d35a <- advanceData(defaultKalman,p3,d35,c(3,3),NULL,1)
stopifnot(all(dim(d35)==dim(d35a)))

## Advance use case 1:  Single action for all cases.
d35b <- advanceData(defaultKalman,p3,d35,matrix(1:5*100,5,2),NULL,1)
stopifnot(all(dim(d35)==dim(d35b)))



#### Test of Data generator

smallData <- paramSimulator(defaultKalman,5,9,
                            function (bDat) exponentialFilter(bDat,.5,.25),
                            function (est) meanPlusPolicy(est,.25))

##### Test of particle filter

pfOut <- paramFilter(defaultKalman,smallData,4)
stopifnot(length(pfOut@param)==1,
          length(pfOut@est)==10,
          length(pfOut@weight)==10,
          length(pfOut@map)==9)