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ctrectmeasjac

Jacobian of constant turn-rate rectangular target measurement model

Description

example

jacobian = ctrectmeasjac(state,detections) returns the Jacobian based on the current rectangular target state and detections.

Examples

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Load detections generated from a rectangular target.

Calculate Jacobian based on the rectangular state of the target and detections.

tgtState = [3;48;0;60;0;5;1.9];
jac = ctrectmeasjac(tgtState,detections);
jac1 = jac(:,:,1)
jac1 = 3×7

1.0000         0         0    0.0461         0   -0.2500    0.4330
0    1.0000         0   -0.0075         0   -0.4330   -0.2500
0         0         0         0         0         0         0

Input Arguments

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Current rectangular target state, specified as a 7-by-1 real-valued vector. The seven dimensional rectangular target state is defined as [x; y; s; θ; ω; L; W]. The meaning of these variables and their units are:

 Variable Meaning Unit x Position of the rectangle center in x direction m y Position of the rectangle center in y direction m s Speed in the heading direction m/s θ Orientation angle of the rectangle with respect to x direction degree ω Turn-rate degree/s L Length of the rectangle m W Width of the rectangle m Example: [1;2;2;30;1;4.7;1.8]

Data Types: single | double

Detections of target, specified as a 1-by-M cell array of objectDetection objects. The MeasurementParameters property (that specifies the transformation from the state-space to measurement-space) for each object must be the same for all the detections in the cell array.

Output Arguments

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Jacobian of measurement model, returned as a M-by-7-by-D real-valued array. M is the dimension of each measurement specified in detections, and D is the number of detections specified in the detections input.

Extended Capabilities

C/C++ Code GenerationGenerate C and C++ code using MATLAB® Coder™. 