DER_CHECK Check derivatives using finite differences Syntax: [D0,D1] = DER_CHECK(F,DF,INDEX,[P1,P2,P3,...]) In: F - Name of actual function or inline function in form F(P1,P2,...) DF - Derivative value as matrix, name of derivative function or inline function in form DF(P1,P2,...). INDEX - Index of parameter of interest. DF should Calculate the derivative with recpect to parameter Pn, where n is the index. Out: D0 - Actual derivative D1 - Estimated derivative Description: Evaluates function derivative analytically and using finite differences. If no output arguments are given, issues a warning if these two values differ too much. Function is intended to checking that derivatives of transition and measurement equations of EKF are bug free. See also: EKF_PREDICT1, EKF_UPDATE1, EKF_PREDICT2, EKF_UPDATE2

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