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lookupPose

Obtain pose information for certain time

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Syntax

[position,orientation,velocity,acceleration,angularVelocity] = lookupPose(traj,sampleTimes)

Description

[position,orientation,velocity,acceleration,angularVelocity] = lookupPose(traj,sampleTimes)返回的姿势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 asNaN.

Input Arguments

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Waypoint trajectory, specified as awaypointTrajectoryobject.

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

Output Arguments

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Position in the local navigation coordinate system in meters, returned as anM3矩阵.

Mis specified by thesampleTimesinput.

Data Types:double

Orientation in the local navigation coordinate system, returned as anM-by-1quaternioncolumn vector or a 3-by-3-by-Mreal 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.

Mis specified by thesampleTimesinput.

Data Types:double

Velocity in the local navigation coordinate system in meters per second, returned as anM3矩阵.

Mis specified by thesampleTimesinput.

Data Types:double

Acceleration in the local navigation coordinate system in meters per second squared, returned as anM3矩阵.

Mis specified by thesampleTimesinput.

Data Types:double

Angular velocity in the local navigation coordinate system in radians per second, returned as anM3矩阵.

Mis specified by thesampleTimesinput.

Data Types:double

Version History

Introduced in R2020b

See Also

Objects

Functions