imu.hpp

 
#ifndef UFO_SENSOR_IMU_HPP
#define UFO_SENSOR_IMU_HPP
 
// UFO
#include <ufo/numeric/mat.hpp>
#include <ufo/numeric/quat.hpp>
#include <ufo/numeric/vec.hpp>
 
// STL
#include <concepts>
 
namespace ufo
{
template <std::floating_point T>
struct IMU {
    Quat<T> orientation;
 
    Vec<3, T> angular_velocity;
 
    Vec<3, T> linear_acceleration;
 
    Mat<3, 3, T> orientation_covariance;
 
    Mat<3, 3, T> angular_velocity_covariance;
 
    Mat<3, 3, T> linear_acceleration_covariance;
};
}  // namespace ufo
 
#endif  // UFO_SENSOR_IMU_HPP