get_raw_angular_velocity()

Eigen::Vector3d get_raw_angular_velocity ( const Eigen::Vector3d &  rate_dps, const Eigen::Vector3d &  bias_dps  )

inlinenoexcept

Get raw angular velocity measurement from the gyroscope.

Parameters

[in]	rate_dps	Angular velocity in deg/s from the pi3hat.
[in]	bias_dps	Gyroscope bias in deg/s from the pi3hat.

Returns

Raw angular velocity of the IMU in rad/s.

Note

We reverse filter outputs for now as (1) it avoids an extra call to ReadSpi, and more generally customizing the Pi3Hat::Impl from mjbots, and (2) the pi3hat filter's code has been stable for the last four years.