Computes the partial derivative of a constraint function with respect to states. Uses central difference method while keeping parameters fixed. Returns a Jacobian matrix of size (constraintCount × stateCount).
Formula: ∂c/∂x_ij ≈ (c_i(p, x+h·e_j) - c_i(p, x-h·e_j)) / (2h)
Parameter vector p (kept fixed)
State vector x
Constraint function c(p, x)
Optional numerical differentiation settings
Jacobian matrix ∂c/∂x
Computes the partial derivative of a constraint function with respect to states. Uses central difference method while keeping parameters fixed. Returns a Jacobian matrix of size (constraintCount × stateCount).
Formula: ∂c/∂x_ij ≈ (c_i(p, x+h·e_j) - c_i(p, x-h·e_j)) / (2h)