%% Measurement Jacobian of Constant Turn-Rate Object Using Measurement Parameters
% Define the state of an object in 2-D constant turn-rate motion. The state is the position and velocity in each dimension, and the turn rate. Compute the measurement Jacobian with respect to spherical coordinates centered at [25;-40;0].

state2d = [1;10;2;20;5];
sensorpos = [25,-40,0].';
frame = 'spherical';
sensorvel = [0;5;0];
laxes = eye(3);
measurementjac = ctmeasjac(state2d,frame,sensorpos,sensorvel,laxes)

%
% Put the measurement parameters in a structure and use the alternative syntax.

measparm = struct('Frame',frame,'OriginPosition',sensorpos,'OriginVelocity',sensorvel, ...
    'Orientation',laxes);
measurementjac = ctmeasjac(state2d,measparm)

% Copyright 2017 The MathWorks, Inc.
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