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lookupPose

Obtain pose information for certain time

Description

[position,orientation,velocity,acceleration,angularVelocity] = lookupPose(traj,sampleTimes) returns the pose information of the waypoint trajectory at the specified sample times. If any sample time is beyond the duration of the trajectory, the corresponding pose information is returned as NaN.

Input Arguments

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Waypoint trajectory, specified as a waypointTrajectory object.

Sample times in seconds, specified as an M-element vector of nonnegative scalars.

Output Arguments

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Position in the local navigation coordinate system in meters, returned as an M-by-3 matrix.

M is specified by the sampleTimes input.

Data Types: double

Orientation in the local navigation coordinate system, returned as an M-by-1 quaternion column vector or a 3-by-3-by-M real array.

Each quaternion or 3-by-3 rotation matrix is a frame rotation from the local navigation coordinate system to the current body coordinate system.

M is specified by the sampleTimes input.

Data Types: double

Velocity in the local navigation coordinate system in meters per second, returned as an M-by-3 matrix.

M is specified by the sampleTimes input.

Data Types: double

Acceleration in the local navigation coordinate system in meters per second squared, returned as an M-by-3 matrix.

M is specified by the sampleTimes input.

Data Types: double

Angular velocity in the local navigation coordinate system in radians per second, returned as an M-by-3 matrix.

M is specified by the sampleTimes input.

Data Types: double

Introduced in R2020a