waypointTrajectory orientation is not matching
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Ravindra
il 20 Ott 2020
Commentato: Paulo Ricardo Marques de Araujo
il 25 Gen 2023
Two trajectories were generated considering the monocular visual-inertial example https://de.mathworks.com/help/fusion/ug/visual-inertial-odometry-using-synthetic-data.html
The first trajectory is same as in example
% track without orientation angles
traj = waypointTrajectory(wayPoints, 'TimeOfArrival', t, ...
'Velocities', velocities, 'SampleRate', sampleRate);
The second trajectory the orientation is added to the same values in example
Ori = [0 0 0;...
0 0 0;...
90 0 0;...
90 0 0;...
0 0 0;...
0 0 0;...
0 0 0;...
90 0 0;...
180 0 0;...
180 0 0;...
180 0 0];
% track with orientation angles
traj_Ori= waypointTrajectory(wayPoints, ...
'TimeOfArrival',t, ...
'Orientation',quaternion(Ori,'eulerd','ZYX','frame'), ...
'Velocities', velocities,'SampleRate',sampleRate);
Later both trajectories were plotted together to check if they have same values. The position is exactly matching but the orientation-axis doesn't.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/386583/image.jpeg)
The Roll, Pitch and Yaw angles are following:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/386593/image.png)
What is the correct way to generate the trajectory with given orientation angels?
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Brian Fanous
il 21 Ott 2020
Hi Ravindra
In the first example you are not specifying the Orienation so the waypointTrajectory infers that the vehicle is pointed in the direction of travel. In the second example you are explicitly specifying the orientation so the waypointTrajectory uses the Ori array. Try:
help waypointTrajectory/Orientation
Best,
Brian
4 Commenti
Paulo Ricardo Marques de Araujo
il 25 Gen 2023
Having the same challenge because I am working with data coming from NovAtel systems. Any thoughts on how to model the motion direction to follow the y-axis of the car?
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