%% READ EXCEL DATA

% save all data in num
num = xlsread('sensor_data');

% save time in vector time
time = num(:,1);
% compute total number of timesteps
len = length(time);

% save sensor data using (:,start_column:end_column)
sensor1 = num(:,2:5);
sensor2 = num(:,6:9);

% convert quaternions to rotation matrices
rot1 = quat2rotm(sensor1);
rot2 = quat2rotm(sensor2);

% preallocate vectors ("rotationMatrixToVector" cannot be performed on
% multiple rotation matrices at once)
vec1 = zeros(len,3);
vec2 = zeros(len,3);

% iterate over all rotation matrices
for i = 1:len
    
    % convert rotation matrices to vectors
    vec1(i,:) = rotationMatrixToVector(rot1(:,:,i));
    vec2(i,:) = rotationMatrixToVector(rot2(:,:,i));
    
end