'SamplesPerFrame' property does not work in kinematicTrajectory function?

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Xiaohui Wang
Xiaohui Wang 2020-9-16
评论： Xiaohui Wang 2020-9-27
Hi,
I am using Matlab R2019b sensor fusion and tracking toolbox, and got the following warning when I set up the 'SamplePerFrame' property of kinematicTrajectory
> trajectory = kinematicTrajectory('SampleRate', 20, 'SamplesPerFrame', 100)
Warning: The SamplesPerFrame property is not relevant in this configuration of the System object.
> In matlab.system.SystemProp/setProperties
In kinematicTrajectory (line 253)
When I run the following command:
>> bodyAcceleration = [5,5,0]; bodyAngularVelocity = [0,0,1];
>> [position,orientation,velocity,acceleration,angularVelocity] = trajectory(bodyAcceleration,bodyAngularVelocity)
I expected the size of position is 100*3, however I only got a single output, is that related to the warning above?
Thank a lot!

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回答（1 个）

Sai Sri Pathuri
Sai Sri Pathuri 2020-9-22
If you use 'SamplesPerFrame' property with kinematictrajectory system object, you need to set 'AccelerationSource' and 'AngularVelocitySource' to 'Property'.
trajectory = kinematicTrajectory('SampleRate', 20, 'SamplesPerFrame', 100, 'AccelerationSource', 'Property', 'AngularVelocitySource', 'Property');
Here is the link to documentation mentioning this dependency in SamplesPerFrame property section: https://in.mathworks.com/help/nav/ref/kinematictrajectory-system-object.html#mw_7550710d-cdce-4092-9ffc-efd20e1ef0d8
Since you have declared AccelerationSource and AngularVelocitySource as properties, you may define them using Acceleration and AngularVelocity properties respectively and then use system object as below.
trajectory = kinematicTrajectory('SampleRate', 20, 'SamplesPerFrame', 100, ....
'AccelerationSource', 'Property', 'AngularVelocitySource', 'Property',...
'Acceleration', [5,5,0], 'AngularVelocity', [0,0,1]);
[position,orientation,velocity,acceleration,angularVelocity] = trajectory();

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