# ctrvjac

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

*Since R2024b*

## 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`

= ctrvjac(`state`

)`ctrvjac`

returns the Jacobian `Jx`

with respect
to the input state, `state`

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

**Note**

`ctrvjac`

represents velocity in the
*xy*-plane with velocity magnitude and direction. For the constant
turn-rate and velocity-magnitude motion model using Cartesian components,
`Vx`

and `Vy`

, see `constturnjac`

.

## Examples

## Input Arguments

## Output Arguments

## Extended Capabilities

## Version History

**Introduced in R2024b**

## See Also

### Functions

`ctrv`

|`ctrvmeas`

|`ctrvmeasjac`

|`constveljac`

|`constaccjac`

|`constturnjac`

|`singerjac`

|`initctrvekf`

|`initctrvukf`