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Atlas Behavior Library
1.0
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Structure for returned IMU readings. More...
#include <AtlasSimInterfaceTypes.h>
Structure for returned IMU readings.
All angular velocities and linear accelerations are expressed relative to an intertial frame, with respect to the IMU frame.
The orientation estimate is expressed relative to an intertial frame, with respect to the IMU frame. Note: the z axis of the inertial frame is aligned with the gravity vector but is opposite in sign.
NOTE: This could probably be replaced with ROS/Gazebo IMU sensor.
Public Member Functions | |
AtlasIMUData () | |
Default contructor. All data members set to 0 or identity. | |
Public Attributes | |
uint64_t | imu_timestamp |
Timestamp for IMU data [s*(10^-6)]. | |
AtlasQuaternion | orientation_estimate |
Approximate orientation, as quaternion. | |
AtlasVec3f | angular_velocity |
Angular velocity about x, y, z axes, in rad/s. | |
AtlasVec3f | linear_acceleration |
Linear acceleration along x, y, z axes, in m/s^2. |
AtlasIMUData::AtlasIMUData | ( | ) | [inline] |
Default contructor. All data members set to 0 or identity.
uint64_t AtlasIMUData::imu_timestamp |
Timestamp for IMU data [s*(10^-6)].
Approximate orientation, as quaternion.
Angular velocity about x, y, z axes, in rad/s.
Linear acceleration along x, y, z axes, in m/s^2.