{
    int i;
    TMatrixD *Xminus = new TMatrixD(6,1);

    Xminus(0,0) = 1.0;        // Initial X,Y,Z position
    Xminus(1,0) = 2.0;
    Xminus(2,0) = 3.0;
    Xminus(3,0) = 20.0;     // Guesstimates of velocity M/S
    Xminus(4,0) = 20.0;
    Xminus(5,0) = 0.1;

    // Create and intialize the transisition matrix.
    TMatrixD *H    = new TMatrixD(6,6);
    for (i=0;i<3;i++)
    {
	H(i,i) = 1.0;
    }
    TMatrixD X;
    X.AmultB ((*H),(*Xminus),1);
}