function [Gx,Gmv,Gdmv] = vppblock_CostJacFcn(stage, x, u, du, paras)
%#codegen
% Jacobian of cost function for Vehicle Path Planner (VPP) block using
% multistage nonlinear mpc.
%
% To customize the Vehicle Path Planner (VPP) block, specify a cost Jcobian
% fucntion for the nonlinear mpc object (nlobj). For example, use
% the specified cost Jacobian fucntion at stage k:
%
%       [Gx,Gmv,Gdmv] = myCostJacFcn(stage, x, u, du, paras);
%       nlobj.Stages(k).CostJacFcn = "myCostJacFcn";
%
% The cost Jacobian function (when specified) must be updated when the cost
% function is updated.
%
% see also: vppblock_CreateNonlinearMPC

% Copyright 2021-2022 The MathWorks, Inc.

Wmv = eye(2);
Gx = zeros(3,1);
Gmv = 2*Wmv*u;
Gdmv = zeros(2,1);


