j2.m

来自「机器人导航程序」· M 代码 · 共 9 行

function Jac  = J2(x1,x2)

s1 = sin(x1(3));
c1 = cos(x1(3));

Jac  = [c1 -s1 0;
        s1 c1 0;
        0 0 1];