observe_imu.cpp

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// Copyright 2022 Stéphane Caron
// SPDX-License-Identifier: Apache-2.0
 
#include "vulp/observation/observe_imu.h"
 
using palimpsest::Dictionary;
 
namespace vulp::observation {
 
void observe_imu(Dictionary& observation, const actuation::ImuData& imu_data) {
  // Eigen quaternions are serialized as [w, x, y, z]
  // See include/palimpsest/mpack/eigen.h in @palimpsest
  observation("imu")("orientation") = imu_data.orientation_imu_in_ars;
  observation("imu")("angular_velocity") = imu_data.angular_velocity_imu_in_imu;
  observation("imu")("linear_acceleration") =
      imu_data.linear_acceleration_imu_in_imu;
}
 
}  // namespace vulp::observation