read_imu_data()

void read_imu_data ( ImuData &  imu_data, b3RobotSimulatorClientAPI &  bullet, int  robot, const int  imu_link_index, double  dt  )

inline

Compute groundtruth IMU quantities from the IMU link state.

Parameters

[out]	imu_data	IMU data to update.
[in]	bullet	Bullet client.
[in]	robot	Bullet index of the robot model.
[in]	imu_link_index	Index of the IMU link in the robot.
[in]	dt	Simulation timestep in [s].