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Example Measurement Function: nonlinear_ok_box_h

Source Code
 
function [hk, Hk] = nonlinear_ok_box_h(k, xk)
	global nonlinear_ok_box_s1
	global nonlinear_ok_box_s2
	s1  = nonlinear_ok_box_s1;
	s2  = nonlinear_ok_box_s2;
	r1  = sqrt( (xk(2) - s1(1))^2 + (xk(4) - s1(2))^2 );
	r2  = sqrt( (xk(2) - s2(1))^2 + (xk(4) - s2(2))^2 );
	hk = [ r1 ; r2 ];
	dr1 = [ 0, xk(2) - s1(1), 0, xk(4) - s1(2) ] / r1;
	dr2 = [ 0, xk(2) - s2(1), 0, xk(4) - s2(2) ] / r2;
	Hk = [ dr1 ; dr2 ];
	return
end

Input File: test/nonlinear_ok_box_h.m