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update TODO
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TODO

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test that residuals works for second order random walk
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replace `save_to_test` and `read_to_test` with `testthat::expect_known_output`
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make functions for `ddhazard` and `PF_EM` where you only take one iteration
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make functions for `ddhazard`
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and can provide your own structural matrices
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make ESS function
6-
make mean and quantile function for pf_clouds
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make sure plot works with forward filter only
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also scale Q as in ddhazard in the particle filter

speedtest/speedtest.pdf

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