MATLAB: WaypointTrajectory orientation is not matching

imulocalisationNavigation Toolboxsensor fusionSensor Fusion and Tracking Toolboxtrajectory

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.
The Roll, Pitch and Yaw angles are following:
What is the correct way to generate the trajectory with given orientation angels?

Best Answer

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
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