make_trajectory {navigation}

Construct a trajectory object

Description

Create a trajectory object from simple matrix input.

Usage

make_trajectory(
  data,
  system = "ellipsoidal",
  start_time = NULL,
  name = NULL,
  ...
)

Arguments

data

A multiple-column matrix. The first column corresponds to the measurment time (in seconds); columns 2, 3 and 4 corresponds to the positions (with the order lat, long and alt (in rad) if ellipsoidal coord or x_N, x_E and x_D for NED coord); columns 5, 6 and 7 (optional) corresponds to the attitude (with the order roll, pitch and yaw); columns 8, 9 and 10 (optional) corresponds to the velocity along the same axes are columns 2, 3 and 4.

system

A string corresponding to the coordinate system (possible choices: ellipsoidal or ned) considered.

start_time

A string (optional) corresponding to the start time for the trajectory.

name

A string (optional) corresponding to the name of the dataset.

...

Additional arguments.

Value

An object of class trajectory.

Author(s)

Davide Cucci, Lionel Voirol, Mehran Khaghani, Stéphane Guerrier

Examples

n <- 100
dat <- cbind(
  seq(from = 0, to = 60 * 60, length.out = n),
  46.204391 * pi / 180 + cumsum(rnorm(n)) / 10^5,
  6.143158 * pi / 180 + cumsum(rnorm(n)) / 10^5,
  375 + cumsum(rnorm(n))
)
traj <- make_trajectory(data = dat, name = "My cool data")
traj
plot(traj)