function [orient, acc, angvel] = kintrajvarsFromkintrajData(trajData)
%KINTRAJVARSFROMKINTRAJDATA Returns orient, acc, angvel from trajData
%struct

kinTraj = kinematicTrajectory('SampleRate', trajData.fs, 'Position', [0, 0, 0], 'Velocity', [0, 0, 0], ...
    'Orientation', quaternion(trajData.startingEulDeg, 'eulerd', 'xyz', 'frame')); % start x-axis pointing up

% Sample and plot the trjectory
for idx = 1:length(trajData.t)
    accBody = trajData.acc(idx,:); angVelBody = trajData.gyr(idx,:);
    [~, orient(idx,:), ~, acc(idx,:), angvel(idx,:)] = kinTraj(accBody, angVelBody); % updates pos, orient, vel, acc and angvel arrays according to the value of fs.
end

end