Help Center Help Center

Ground Truth Trajectories

Create trajectories from position, motion, and rotation

Create trajectories from geodetic coordinates, translational and rotational motion, and position, orientation, and velocity.

Functions

Trajectory Functions

`geoTrajectory`	Waypoint trajectory in geodetic coordinates
`kinematicTrajectory`	Rate-driven trajectory generator
`waypointTrajectory`	Waypoint trajectory generator

Quaternion Rotations

`quaternion`	Create a quaternion array
`rotmat`	Convert quaternion to rotation matrix
`euler`	Convert quaternion to Euler angles (radians)
`eulerd`	Convert quaternion to Euler angles (degrees)
`rotvec`	Convert quaternion to rotation vector (radians)
`rotvecd`	Convert quaternion to rotation vector (degrees)
`compact`	Convert quaternion array to N-by-4 matrix
`parts`	Extract quaternion parts
`rotateframe`	Quaternion frame rotation
`rotatepoint`	Quaternion point rotation
`norm`	Quaternion norm
`normalize`	Quaternion normalization
`dist`	Angular distance in radians
`slerp`	Spherical linear interpolation
`meanrot`	Quaternion mean rotation
`randrot`	Uniformly distributed random rotations

Topics

Model Platform Motion Using Trajectory Objects
This topic introduces how to use three different trajectory objects to model platform trajectories, and how to choose between them.