/// <summary>
/// Obtain a linearization for the motion update equation.
/// It follows the form
/// f(x[k-1], u) - x[k] ~ F dx[k-1] + G dx[k] + a.
/// </summary>
/// <param name="odometry">Odometry.</param>
public double[][] MotionJacobian(double[] odometry)
{
return(Pose.AddOdometryJacobian(odometry));
}
