OpticalBearingMeasurement.compute_jacobian

giant.ufo.measurements:

OpticalBearingMeasurement.compute_jacobian(state)

Computes and returns the change in the predicted measurement given a change in the state.

This is also known as the observation matrix. It linearly maps changes in the state to changes in the measurement. As such, it should be a matrix of length nxm where n is the number of elements in the measurement (for instance n=2 for a single pixel measurement) and m is the length of the state vector (len(state)).

The state vector is always guaranteed to contain position and velocity as the first 2 components of the state vector.

Parameters:

state (State) – The state object defining the current state of the target.

Returns:

The Jacobian of the measurement as a numpy array

Return type:

ndarray