Jacobian computation help

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Yash
Yash 2011-11-2
Hello, I am trying to use the matlab symbolic toolbox to derive an expression for the Jacobians in the Extended Kalman Filter. My Motion model looks like
[x_k-1;y_k-1;theta_k-1] + T[v_k*cos(theta_k-1);v_k*sin(theta_k-1;w_k]+T[w1_k*cos(theta_k-1);w1_k*sin(theta_k-1);w2_k]
I am trying to find the partial of the motion model with respect to the first matrix given as [x_k-1;y_k-1;theta_k-1] can someone please help me or guide me on this? thanks

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