IMU Waypoints - I have an IMU outputting acceleromter, roll ptich and yaw, how do i calculate awy poitns

I have an IMu in arduino which outputs accelerometer data, roll pitch and yaw, onces per second. I have been tasked with settting up a way point trajectory with this information. Any ideas?

[John Petersen]

I think you need more information. Like where is the trajectory leading you to? Since you only have linear acceleration and rotational velocity, are you looking for a trajectory of accelerations, velocities, angles? We need to know.