ufo::IMU< T > Struct Template Reference

Represents an Inertial Measurement Unit (IMU) sensor reading. More...

#include <lib/sensor/include/ufo/sensor/imu.hpp>

Public Attributes
Vec< 3, T >	angular_velocity
	Angular velocity of the sensor.
Mat< 3, 3, T >	angular_velocity_covariance
	Covariance matrix for the angular velocity measurement.
Vec< 3, T >	linear_acceleration
	Linear acceleration of the sensor.
Mat< 3, 3, T >	linear_acceleration_covariance
	Covariance matrix for the linear acceleration measurement.
Quat< T >	orientation
	Orientation of the sensor in the world frame.
Mat< 3, 3, T >	orientation_covariance
	Covariance matrix for the orientation measurement.

Detailed Description

template<std::floating_point T>
struct ufo::IMU< T >

Represents an Inertial Measurement Unit (IMU) sensor reading.

This structure holds common IMU measurements, including orientation, angular velocity, and linear acceleration, along with their associated covariance matrices.

Template Parameters

T	The numeric type (e.g., float, double) used for the measurements.

Definition at line 65 of file imu.hpp.

Member Data Documentation

angular_velocity

template<std::floating_point T>

Vec<3, T> ufo::IMU< T >::angular_velocity

Angular velocity of the sensor.

Measured in radians per second (rad/s).

Definition at line 80 of file imu.hpp.

angular_velocity_covariance

template<std::floating_point T>

Mat<3, 3, T> ufo::IMU< T >::angular_velocity_covariance

Covariance matrix for the angular velocity measurement.

A 3x3 matrix representing the uncertainty in the angular velocity.

Definition at line 104 of file imu.hpp.

linear_acceleration

template<std::floating_point T>

Vec<3, T> ufo::IMU< T >::linear_acceleration

Linear acceleration of the sensor.

Measured in meters per second squared (m/s²). Includes gravity.

Definition at line 88 of file imu.hpp.

linear_acceleration_covariance

template<std::floating_point T>

Mat<3, 3, T> ufo::IMU< T >::linear_acceleration_covariance

Covariance matrix for the linear acceleration measurement.

A 3x3 matrix representing the uncertainty in the linear acceleration.

Definition at line 112 of file imu.hpp.

orientation

template<std::floating_point T>

Quat<T> ufo::IMU< T >::orientation

Orientation of the sensor in the world frame.

Represented as a quaternion.

Definition at line 72 of file imu.hpp.

orientation_covariance

template<std::floating_point T>

Mat<3, 3, T> ufo::IMU< T >::orientation_covariance

Covariance matrix for the orientation measurement.

A 3x3 matrix representing the uncertainty in the orientation.

Definition at line 96 of file imu.hpp.

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

• lib/sensor/include/ufo/sensor/imu.hpp