get_linear_acceleration()

Eigen::Vector3d get_linear_acceleration ( const Attitude &  attitude )

inlinenoexcept

Get the body linear acceleration of the IMU.

Parameters

[in]

attitude

Attitude object from the pi3hat library.

Returns

Body linear acceleration of the IMU in m/s².

Note

This is the linear acceleration \( {}_I a_{WI} \) of the IMU frame \( I \) with respect to the world frame, expressed in the IMU frame.