Fix imuSensor orientation input format: quaternions → rotation matrices

[Copilot]

The imuSensor object expects orientation as 3×3×N rotation matrices but was receiving N×4 quaternions, causing a dimension mismatch error during IMU simulation.

Changes

part1_vibration_model.m

• Replaced quaternion identity [1 0 0 0] with rotation matrix identity eye(3) for both stationary and moving trajectories
• Changed from repmat([1 0 0 0], numSamples, 1) → repmat(eye(3), [1, 1, numSamples])

MATLAB_SETUP_GUIDE.md

• Updated test example to use rotation matrix format

Before/After

% Before: 1000×4 quaternion array
orientation_stationary = repmat([1 0 0 0], numSamples, 1);

% After: 3×3×1000 rotation matrix array
orientation_stationary = repmat(eye(3), [1, 1, numSamples]);

Affects all four IMU simulation calls (clean/vibrating × stationary/moving).

Original prompt

⚠ Toolbox availability check failed: Feature name must be less than 28 characters.
Please ensure you have Navigation Toolbox installed.

=== Step 1: Setting up IMU Sensor ===
✓ IMU sensor configured with realistic noise characteristics

=== Step 2: Generating Reference Trajectories ===
Generating stationary trajectory...
Generating moving trajectory...
✓ Reference trajectories generated

=== Step 3: Creating Vibration Model ===
✓ Multi-frequency vibration model created

• Primary vibration: 25.0 Hz (0.50 m/s²)
• Secondary vibration: 60.0 Hz (0.30 m/s²)
• Tertiary vibration: 120.0 Hz (0.20 m/s²)

=== Step 4: Simulating IMU Measurements ===

✗ Error in Part 1: Expected input to be of size 3x3x1000, but it is of size 1000x4.
Stack trace:
imuSensor.validateInputsImpl (line 532)
part1_vibration_model (line 132)
run (line 100)
run_solution (line 70)
Error using run_solution (line 82)
Part 1 failed. Please check the error messages above.

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