/// <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)); }