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Lines 51 and 53 are given by:

[x1,A]=jaccsd(fstate,x); [z1,H]=jaccsd(hmeas,x1);

Why is x1 = fstate(x) used as the input for calculating the jacobian of the measurement equation? It makes more sense if the jacobian of the measurement equation is also evaluated at the current state x. Am I interpreting that part incorrectly?

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