Atlas Sim Interface  1.0
Public Member Functions | Public Attributes
AtlasIMUData Struct Reference

Structure for returned IMU readings. More...

#include <AtlasControlTypes.h>


Detailed Description

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.

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.

Constructor & Destructor Documentation

Default contructor. All data members set to 0 or identity.


Member Data Documentation

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.