How can I get the Jacobian when the variables are functions of time?

syms x(t) y(t) 
syms Psi(t) Theta(t) R(t)
x(t)= [Psi(t) Theta(t) R(t)].';
r(t)= [R*cos(Psi(t))*sin(Theta(t)) R*sin(Psi(t))*sin(Theta(t)) R*cos(Theta(t))];
Ht=jacobian(r(t),x(t)) %this is not working

Hi,

I would like to get the jacobian dr/dx. I also tried "fulldiff()", but I don't know exactly how to use it and I could not solve this problem.

Answer 1

[Walter Roberson]

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