% Hessian of the measurement model function in the random sine signal demo% Copyright (C) 2007 Jouni Hartikainen%% This software is distributed under the GNU General Public % Licence (version 2 or later); please refer to the file % Licence.txt, included with the software, for details.function df = ekf_sine_d2h_dx2(x,param)f = x(1);a = x(3);df = zeros(1,3,3);df(1,:,:) = [-a*sin(f) 0 cos(f);             0         0      0;             cos(f)    0      0];