%DER_CHECK  Check derivatives using finite differences%% Syntax:%   [D0,D1] = DER_CHECK(F,DF,INDEX,[P1,P2,P3,...])%% In:%   F  - Name of actual function or inline function%        in form F(P1,P2,...)%   DF - Derivative value as matrix, name of derivative%        function or inline function in form DF(P1,P2,...).%   INDEX - Index of parameter of interest. DF should%        Calculate the derivative with recpect to parameter%        Pn, where n is the index.%% Out:%   D0 - Actual derivative%   D1 - Estimated derivative%% Description:%   Evaluates function derivative analytically and%   using finite differences. If no output arguments%   are given, issues a warning if these two values%   differ too much.%%   Function is intended to checking that derivatives%   of transition and measurement equations of EKF are%   bug free.% % See also:%   EKF_PREDICT1, EKF_UPDATE1, EKF_PREDICT2, EKF_UPDATE2% History:%   12.03.2003  SS  Support for function handles%   27.11.2002  SS  The first official version.%% Copyright (C) 2002 Simo S鋜kk