MATLAB 计算雅可比矩阵

 syms x y a d v t;
f = [d*sin(a) + v*t ; d*cos(a); atan((x+v*t)/y);sqrt(d^2+(v*t)^2+2*d*v*t*sin(a));v];
x = [x; y; a;d;v];
J = jacobian(f, x);
disp(J);