cam_getJacobian

Functions
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])

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Function Documentation

void mexFunction	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

Parameters:

ptr	handle returned by cam_initialize()
x	Mx1 row vector for state at which to calculate Jacobian
observationIds	Px1 cell array of strings indicating which observations to calculate the Jacobian. This will often be the result returned from cam_getObservations().

Returns:

the 3PxM Jacobian. Note that each observation consist of [x,y,z] measurements (hence the 3P).

Remarks:

Matlab example: z = cam_getJacobian(ptr, x, observationIds)

Definition at line 17 of file cam_getJacobian.cpp.