# ctrv

State transition function for constant turn-rate and velocity-magnitude motion model

*Since R2024b*

## Description

returns the predicted state, `predictedState`

= ctrv(`state`

)`predictedState`

, obtained from the current
state, `state`

, based on the constant turn-rate and velocity-magnitude
motion model. The default time step is 1 second. Constant turn rate and velocity magnitude
mean that motion in the *xy*-plane follows a constant angular velocity and
motion in the vertical *z* directions follows a constant velocity
model.

**Note**

`ctrv`

represents velocity in the
*xy*-plane with velocity magnitude and direction. For the constant
turn-rate and velocity-magnitude motion model using Cartesian components,
`Vx`

and `Vy`

, see `constturn`

.

also specifies the time step, `predictedState`

= ctrv(`state`

,`dt`

)`dt`

.

also specifies noise, `predictedState`

= ctrv(`state`

,`w`

,`dt`

)`w`

.

## Examples

## Input Arguments

## Output Arguments

## Extended Capabilities

## Version History

**Introduced in R2024b**

## See Also

### Functions

`ctrvjac`

|`ctrvmeas`

|`ctrvmeasjac`

|`constvel`

|`constacc`

|`constturn`

|`singer`

|`initctrvekf`

|`initctrvukf`