function A = ekf_nonholonomic_df_dx(x,param)

dt=param(1);
l=param(2);

v=x(3);
t=x(4);
f=x(5);

A(1,1)=1.0;
A(1,2)=0.0;
A(1,3)=cos(t)*cos(f)*dt;
A(1,4)=-sin(t)*cos(f)*v*dt;
A(1,5)=cos(t)*(-sin(f))*v*dt;
A(1,6)=0;

A(2,1)=0.0;
A(2,2)=1.0;
A(2,3)=sin(t)*cos(f)*dt;
A(2,4)=cos(t)*cos(f)*v*dt;
A(2,5)=sin(t)*(-sin(f))*v*dt;
A(2,6)=0;

A(3,1)=0.0;
A(3,2)=0.0;
A(3,3)=1.0;
A(3,4)=0.0;
A(3,5)=0.0;
A(3,6)=0.0;

A(4,1)=0.0;
A(4,2)=0.0;
A(4,3)=sin(f)*dt/l;
A(4,4)=1.0;
A(4,5)=cos(f)*v*dt/l;
A(4,6)=0;

A(5,1)=0.0;
A(5,2)=0.0;
A(5,3)=0.0;
A(5,4)=0.0;
A(5,5)=1.0;
A(5,6)=dt;

A(6,1)=0.0;
A(6,2)=0.0;
A(6,3)=0.0;
A(6,4)=0.0;
A(6,5)=0.0;
A(6,6)=1.0;