Jacobian of constant turn-rate rectangular target measurement model
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
state— Current rectangular target state
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:
Position of the rectangle center in x direction
Position of the rectangle center in y direction
Speed in the heading direction
Orientation angle of the rectangle with respect to x direction
Length of the rectangle
Width of the rectangle
detections— Detections of target
Detections of target, specified as a 1-by-M cell array of
objectDetection objects. The
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.