Jacobian for constant-velocity motion

For a two-dimensional constant-velocity motion, the Jacobian
matrix for a time step, *T*, is block diagonal:

$$\left[\begin{array}{cccc}1& T& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& T\\ 0& 0& 0& 1\end{array}\right]$$

The block for each spatial dimension has this form:

$$\left[\begin{array}{cc}1& T\\ 0& 1\end{array}\right]$$

For each additional spatial dimension, add an identical block.

`cameas`

|`cameasjac`

|`constacc`

|`constaccjac`

|`constturn`

|`constturnjac`

|`constvel`

|`ctmeas`

|`ctmeasjac`

|`cvmeas`

|`cvmeasjac`