%% Measurement Jacobian of Constant-Velocity Object in Translated Spherical Frame
% Define the state of an object in 2-D constant-velocity motion. The state is the position and velocity in each spatial dimension. Compute the measurement Jacobian with respect to spherical coordinates centered at (5;-20;0) meters.

state = [1;10;2;20];
sensorpos = [5;-20;0];
measurementjac = cvmeasjac(state,'spherical',sensorpos)

% Copyright 2017 The MathWorks, Inc.
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