Home > src > demos > ekf_sine_demo > ekf_sine_d2h_dx2.m

ekf_sine_d2h_dx2

PURPOSE ^

Hessian of the measurement model function in the random sine signal demo

SYNOPSIS ^

function df = ekf_sine_d2h_dx2(x,param)

DESCRIPTION ^

 Hessian of the measurement model function in the random sine signal demo

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 % Hessian of the measurement model function in the random sine signal demo
0002 
0003 % Copyright (C) 2007 Jouni Hartikainen
0004 %
0005 % This software is distributed under the GNU General Public
0006 % Licence (version 2 or later); please refer to the file
0007 % Licence.txt, included with the software, for details.
0008 
0009 function df = ekf_sine_d2h_dx2(x,param)
0010 f = x(1);
0011 a = x(3);
0012 
0013 df = zeros(1,3,3);
0014 df(1,:,:) = [-a*sin(f) 0 cos(f);
0015              0         0      0;
0016              cos(f)    0      0];

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