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Jacobian for constant-acceleration motion

`[`

specifies the state noise, `jacobian`

,`noisejacobian`

] = constaccjac(`state`

,`w`

,`dt`

)`w`

, and returns the Jacobian,
`noisejacobian`

, of the state with respect to the
noise.

For a two-dimensional constant-acceleration process, the Jacobian
matrix after a time step, *T*, is block diagonal:

$$\left[\begin{array}{cccccc}1& T& \frac{1}{2}{T}^{2}& 0& 0& 0\\ 0& 1& T& 0& 0& 0\\ 0& 0& 1& 0& 0& 0\\ 0& 0& 0& 1& T& \frac{1}{2}{T}^{2}\\ 0& 0& 0& 0& 1& T\\ 0& 0& 0& 0& 0& 1\end{array}\right]$$

The block for each spatial dimension has this form:

$$\left[\begin{array}{ccc}1& T& \frac{1}{2}{T}^{2}\\ 0& 1& T\\ 0& 0& 1\end{array}\right]$$

For each additional spatial dimension, add an identical block.

`cameas`

|`cameasjac`

|`constacc`

|`constturn`

|`constturnjac`

|`constvel`

|`constveljac`

|`ctmeas`

|`ctmeasjac`

|`cvmeas`

|`cvmeasjac`