Question Regarding Jacobian



Hello,

I am having trouble calculating a Jacobian. Even when I try the code that is in the user's manual, 

jacobian ([sin (u - v), sin (u * v)], [u, v]);  
(pg 796 manual)

it returns
jacobian([-sin(v-u),sin(u*v)],[u,v])

Is there a trick to defining the vectors for this function? The jacobian I am trying to compute is

R:[x,y,z];
integ:(R.R)*ident(3)-transpose(R).R;
Cvar:[u*rp*cos(theta),L,u*rp*sin(theta)];
jac:jacobian(cvar,[U,L,theta]);


Thank you for your time.


-- 
Julie Sandberg
M.S. Aerospace Engineering
Dynamics and Control
Texas A&M University