Residual:

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   Generates residual, measurement matrix and measurement noise matrix.

   Handles linear and nonlinear systems. The latter use the Jacobian
   of the measurement function. The former uses the h matrix. For
   nonlinear systems .h is the pointer to the measurement function.

   This handles empty y matrices.
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   Form:
   [z, h, r] = Residual( y, f )
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   Inputs
   ------
   y	(m) Measurement data structure
           .data  (:,1) Measurements
           .param (1,1) Parameter data structure
                       .hFun   (1,:) Pointer to measurement function
                       .hData  (1,1) Data structure for measurement function data
                       .r      (:,:) Measurement covariance matrix
   f   (1,1) Filter data structure
             .m     (n,1) State vector

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   Outputs
   -------
   z	(m,1) Residual
   h	(m,n) Linearized measurement matrix y = h*x or
   r	(m,m) Noise covariance matrix

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Children:

Math: Analysis/Jacobian