function [trueAccels] = computeTrueAccels(trajData, qb_n)
%COMPUTETRUEACCELS Compute true accelerometer measurements based on true
%orientations given qb_n.
%   Detailed explanation goes here

trueAccels = zeros(sum(trajData.isPosition), 3);

i_row = 1; i_pos = 1;
for i = 1:length(trajData.acc)
    if ~mod(i, trajData.fs*trajData.avTime) && trajData.isPosition(i_pos)
        trueAccels(i_row,:) = quatrotate(qb_n(i, :), [0 0 9.81]); % take average of the samples to reduce effects of noise
        i_row = i_row + 1; i_pos = i_pos + 1;
    elseif ~mod(i, trajData.fs*trajData.avTime) && ~trajData.isPosition(i_pos)
        i_pos = i_pos + 1;
    end
end

end