# constturnjac

Jacobian of state transition function based on constant turn-rate and velocity-magnitude motion

## Description

returns the Jacobian of the state transition function based on the constant
turn-rate and velocity-magnitude motion model. The default time step is 1 second. By
default, `Jx`

= constturnjac(`state`

)`constturnjac`

returns the Jacobian
`Jx`

with respect to the input state,
`state`

. Constant turn-rate mean that motion in the
*xy*-plane follows a constant angular velocity and motion in
the vertical *z* directions follows a constant velocity
model.

## Examples

## Input Arguments

## Output Arguments

## Extended Capabilities

## Version History

**Introduced in R2017a**

## See Also

### Functions

`constturn`

(Sensor Fusion and Tracking Toolbox) |`ctmeas`

(Sensor Fusion and Tracking Toolbox) |`ctmeasjac`

(Sensor Fusion and Tracking Toolbox) |`constveljac`

|`constaccjac`

|`ctrvjac`

(Sensor Fusion and Tracking Toolbox) |`singerjac`

(Sensor Fusion and Tracking Toolbox) |`initctekf`

(Sensor Fusion and Tracking Toolbox) |`initctukf`

(Sensor Fusion and Tracking Toolbox)