if i has not control vector, how i can write syetemmodel?

[naonao-cola]

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[naonao-cola]

I only have InputData without ControlVector, the systemModel and the measureModel , as flows is my code. Right?
//系统模型 S f(const S& x, const C& u) const { return this->F * x; } //测量模型 M h(const S& x) const { return this->H * x; } //主函数调用 x = sys.f(x, u); x.x() = X[i]; x.y() =Y[i]; auto x_ekf = ekf.predict(sys, u); PositionMeasurement position = pm.h(x); x_ekf = ekf.update(pm, position);