?? der_check.m
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%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
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