Data from the onboard inertial measurement unit (IMU). More...

#include <ImuData.h>

Public Attributes
Eigen::Quaterniond	orientation_imu_in_ars = Eigen::Quaterniond::Identity()
	Rotation from the IMU frame to the ARS frame. More...

Eigen::Vector3d	angular_velocity_imu_in_imu = Eigen::Vector3d::Zero()
	Body angular velocity of the IMU frame in rad/s. More...

Eigen::Vector3d	linear_acceleration_imu_in_imu = Eigen::Vector3d::Zero()
	Linear acceleration of the IMU, with gravity filtered out, in m/s². More...

Eigen::Vector3d	raw_angular_velocity = Eigen::Vector3d::Zero()
	Raw angular velocity read by the IMU, in rad/s. More...

Eigen::Vector3d	raw_linear_acceleration = Eigen::Vector3d::Zero()
	Proper linear acceleration read by the IMU, in m/s². More...

Eigen::Vector3d	linear_velocity_imu_in_world = Eigen::Vector3d::Zero()
	Spatial linear velocity in m/s. More...

Detailed Description

Data from the onboard inertial measurement unit (IMU).

The documentation for this struct was generated from the following file:

Public Attributes