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Fix imuSensor orientation input format: quaternions → rotation matrices #5

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Fix imuSensor orientation input format: quaternions → rotation matrices #5

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Initial plan
Copilot Nov 3, 2025
738266d
Fix IMU sensor orientation input format from quaternions to rotation …
Copilot Nov 3, 2025
8612386
Update documentation to reflect rotation matrix format instead of qua…
Copilot Nov 3, 2025
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2 changes: 1 addition & 1 deletion MATLAB_SETUP_GUIDE.md
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Original file line number Diff line number Diff line change
Expand Up @@ -136,7 +136,7 @@ try
% Test basic functionality
accel_data = [0 0 9.81]; % Gravity vector
gyro_data = [0 0 0]; % No rotation
orientation = [1 0 0 0]; % No rotation quaternion
orientation = eye(3); % Identity rotation matrix (no rotation)

[accel_out, gyro_out] = imu(accel_data, gyro_data, orientation);

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7 changes: 4 additions & 3 deletions part1_vibration_model.m
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Expand Up @@ -52,7 +52,8 @@
position_stationary = zeros(numSamples, 3);
velocity_stationary = zeros(numSamples, 3);
acceleration_stationary = repmat([0 0 9.81], numSamples, 1); % Just gravity
orientation_stationary = repmat([1 0 0 0], numSamples, 1); % No rotation
% Create identity rotation matrix for each sample (no rotation)
orientation_stationary = repmat(eye(3), [1, 1, numSamples]);
angVel_stationary = zeros(numSamples, 3);
angAccel_stationary = zeros(numSamples, 3);

Expand Down Expand Up @@ -83,8 +84,8 @@
acceleration_moving(i, 3) = 9.81; % gravity
end

% Simple orientation (no rotation for moving case)
orientation_moving = repmat([1 0 0 0], numSamples, 1);
% Create identity rotation matrix for each sample (no rotation for moving case)
orientation_moving = repmat(eye(3), [1, 1, numSamples]);
angVel_moving = zeros(numSamples, 3);
angAccel_moving = zeros(numSamples, 3);

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