Struct inertialsim::sensors::IMUData

ClassList > inertialsim > sensors > IMUData

IMU output data.More...

• #include <imu.h>

Public Attributes

Type	Name
AccelerometerData	accelerometer Accelerometer measurements.
GyroData	gyro Gyro measurements.

Public Functions

Type	Name
	IMUData (const GyroData & g, const AccelerometerData & a) Construct IMUData with gyro and accelerometer data.
const Measurement &	angular_rate () const Get angular rate measurement.
const std::optional< Measurement > &	delta_angle () const Get delta angle measurement.
const std::optional< Measurement > &	delta_velocity () const Get delta velocity measurement.
const Measurement &	specific_force () const Get specific force measurement.

Detailed Description

Contains simulated gyro and accelerometer measurements.

Public Attributes Documentation

variable accelerometer

Accelerometer measurements.

AccelerometerData inertialsim::sensors::IMUData::accelerometer;

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variable gyro

Gyro measurements.

GyroData inertialsim::sensors::IMUData::gyro;

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Public Functions Documentation

function IMUData

Construct IMUData with gyro and accelerometer data.

inline inertialsim::sensors::IMUData::IMUData (
    const GyroData & g,
    const AccelerometerData & a
) 

Parameters:

• g Gyro data.
• a Accelerometer data.

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function angular_rate

Get angular rate measurement.

inline const Measurement & inertialsim::sensors::IMUData::angular_rate () const

Returns:

Angular rate measurement from gyro.

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function delta_angle

Get delta angle measurement.

inline const std::optional< Measurement > & inertialsim::sensors::IMUData::delta_angle () const

Returns:

Optional delta angle measurement from gyro.

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function delta_velocity

Get delta velocity measurement.

inline const std::optional< Measurement > & inertialsim::sensors::IMUData::delta_velocity () const

Returns:

Optional delta velocity measurement from accelerometer.

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function specific_force

Get specific force measurement.

inline const Measurement & inertialsim::sensors::IMUData::specific_force () const

Returns:

Specific force measurement from accelerometer.

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The documentation for this class was generated from the following file cpp/include/inertialsim/sensors/imu.h