%% Measurement Jacobian of Accelerating Object in Translated Spherical Frame
% Define the state of an object in 2-D constant-acceleration motion. The state is the position, velocity, and acceleration in both dimensions. Compute the measurement Jacobian in spherical coordinates with respect to an origin at (5;-20;0) meters.

state = [1,10,3,2,20,5].';
sensorpos = [5,-20,0].';
measurementjac = cameasjac(state,'spherical',sensorpos)

% Copyright 2012 The MathWorks, Inc.