ctrectmeasjac
Jacobian of measurement function for constant turn-rate motion model for rectangular targets
Description
returns the Jacobian of the measurement function measurementJac
= ctrectmeasjac(state
,detections
)measurementJac
based
on the current rectangular target state
and
detections
.
Examples
Generate Jacobian for Rectangular Target Model
Load detections generated from a rectangular target.
load('rectangularTargetDetections.mat','detections');
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
state
— Current rectangular target state
7-by-1 real-valued vector
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
— Detections of target
1-by-M cell array of objectDetection
objects
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
measurementJac
— Jacobian of measurement model
M-by-7-by-D real-valued array
Jacobian of the 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 Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2019b
See Also
trackerPHD
| gmphd
| ctrect
| ctrectmeas
| ctrectjac
| initctrectgmphd
| ctrectcorners
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