function theta = idRecursiveEstimationProcessParametersRarma(A,C,na,nc,nParameters)
% idRecursiveEstimationProcessParametersRarma Helper function to construct
% the vector of free estimated parameters from the A and C polynomials. It
% is assumed that A(1)=1 and C(1)=1

%   Copyright 2013-2014 The MathWorks, Inc.

%#codegen
theta = zeros(nParameters,1,'like',A);
% Initial A(q)
if na>0
    theta(1:na) = A(2:end);
end
% Initial C(q)
if nc>0
    theta(na+1:nParameters) = C(2:nc+1);
end