Time varying data to workspace

Question

Drishya Dinesh 2020-12-7

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/683783-time-varying-data-to-workspace

编辑： Walter Roberson 2020-12-7

I need to load a time varying vector to workspace. At each instant the vector should get updated with new values. ie; a 3x1 vector should be obtained at each instant for both position and orienation. Code is attached.

duration = 5; % seconds
fs = 10;         % Hz
N = duration*fs; % number of samples
radius = 2;   % meters
speed = 2;      % meters per second
climbRate = 2;  % meters per second
initialYaw = 90; % degrees
pitch = 20;      % degrees
initPos = [radius, 0, 0];
initVel = [0, speed, climbRate];
initOrientation = quaternion([initialYaw,pitch,0],'eulerd','zyx','frame');
trajectory = kinematicTrajectory('SampleRate',fs, ...
    'Velocity',initVel, ...
    'Position',initPos, ...
    'Orientation',initOrientation);
accBody = zeros(N,3);
accBody(:,2) = speed^2/radius;
accBody(:,3) = 0.2;
angVelBody = zeros(N,3);
angVelBody(:,3) = speed/radius;
pitchRotation = quaternion([0,pitch,0],'eulerd','zyx','frame');
angVelBody = rotateframe(pitchRotation,angVelBody);
accBody = rotateframe(pitchRotation,accBody);
[position, orientation, velocity] = trajectory(accBody,angVelBody);
eulerAngles = eulerd(orientation,'ZYX','frame');
speed = sqrt(sum(velocity.^2,2));
timeVector = (0:(N-1))/fs;
%     pb=angVelBody(:,1);qb=angVelBody(:,1);rb=angVelBody(:,1);
%     ub=velocity(:,1);vb=velocity(:,2);wb=velocity(:,2);
%     xb=position(:,1);yb=position(:,2);zb=position(:,3);
%     phi=eulerAngles(:,1);theta=eulerAngles(:,2);psi=eulerAngles(:,3);
%     Vref=[ub vb wb pb qb rb]';
%     V=diff(position);
%     posi=position'
figure(1)
plot3(position(:,1),position(:,2),position(:,3))
xlabel('North (m)')
ylabel('East (m)')
zlabel('Down (m)')
title('Position')
grid on
figure(2)
plot(timeVector,eulerAngles(:,1),...
     timeVector,eulerAngles(:,2),...
     timeVector,eulerAngles(:,3))
axis([0,duration,-180,180])
legend('Yaw (Rotation Around Down)','Pitch (Rotation Around East)','Roll (Rotation Around North)')
xlabel('Time (s)')
ylabel('Rotation (degrees)')
title('Orientation')