linear_acceleration_imu_in_imu

Eigen::Vector3d linear_acceleration_imu_in_imu = Eigen::Vector3d::Zero()

Linear acceleration of the IMU, with gravity filtered out, in m/s².

This quantity corresponds to SPI register 34 from the pi3hat https://github.com/mjbots/pi3hat/blob/master/docs/reference.md#imu-register-mapping from which gravity has been substracted out https://github.com/mjbots/pi3hat/blob/4a3158c831da125fa9c96d64378515c1fdb2083f/fw/attitude_reference.h#L147.