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TrimEst.m
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TrimEst.m
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function est = TrimEst(start_time, end_time, est_in)
est.utime = TrimTimes(start_time, end_time, est_in.logtime, est_in.utime);
est.pos.x = TrimTimes(start_time, end_time, est_in.logtime, est_in.pos.x);
est.pos.y = TrimTimes(start_time, end_time, est_in.logtime, est_in.pos.y);
est.pos.z = TrimTimes(start_time, end_time, est_in.logtime, est_in.pos.z);
est.vel.x = TrimTimes(start_time, end_time, est_in.logtime, est_in.vel.x);
est.vel.y = TrimTimes(start_time, end_time, est_in.logtime, est_in.vel.y);
est.vel.z = TrimTimes(start_time, end_time, est_in.logtime, est_in.vel.z);
est.orientation.q0 = TrimTimes(start_time, end_time, est_in.logtime, est_in.orientation.q0);
est.orientation.q1 = TrimTimes(start_time, end_time, est_in.logtime, est_in.orientation.q1);
est.orientation.q2 = TrimTimes(start_time, end_time, est_in.logtime, est_in.orientation.q2);
est.orientation.q3 = TrimTimes(start_time, end_time, est_in.logtime, est_in.orientation.q3);
est.orientation.roll = TrimTimes(start_time, end_time, est_in.logtime, est_in.orientation.roll);
est.orientation.pitch = TrimTimes(start_time, end_time, est_in.logtime, est_in.orientation.pitch);
est.orientation.yaw = TrimTimes(start_time, end_time, est_in.logtime, est_in.orientation.yaw);
est.rotation_rate.x = TrimTimes(start_time, end_time, est_in.logtime, est_in.rotation_rate.x);
est.rotation_rate.y = TrimTimes(start_time, end_time, est_in.logtime, est_in.rotation_rate.y);
est.rotation_rate.z = TrimTimes(start_time, end_time, est_in.logtime, est_in.rotation_rate.z);
est.accel.x = TrimTimes(start_time, end_time, est_in.logtime, est_in.accel.x);
est.accel.y = TrimTimes(start_time, end_time, est_in.logtime, est_in.accel.y);
est.accel.z = TrimTimes(start_time, end_time, est_in.logtime, est_in.accel.z);
for i = 1 : 12
est.est_frame(:,i) = TrimTimes(start_time, end_time, est_in.logtime, est_in.est_frame(:,i));
est.drake_frame(:,i) = TrimTimes(start_time, end_time, est_in.logtime, est_in.drake_frame(:,i));
end
est.logtime = TrimTimes(start_time, end_time, est_in.logtime, est_in.logtime);
end