Data filtered from an onboard IMU such as the pi3hat's. More...

#include <ImuData.h>

Public Attributes
Eigen::Quaterniond	orientation_imu_in_ars = Eigen::Quaterniond::Identity()
	Orientation from the IMU frame to the attitude reference system (ARS) frame. More...

Eigen::Vector3d	angular_velocity_imu_in_imu = Eigen::Vector3d::Zero()
	Body angular velocity of the IMU frame in [rad] / [s]. More...

Eigen::Vector3d	linear_acceleration_imu_in_imu = Eigen::Vector3d::Zero()
	Body linear acceleration of the IMU, in [m] / [s]². More...

Detailed Description

Data filtered from an onboard IMU such as the pi3hat's.

Definition at line 12 of file ImuData.h.

Member Data Documentation

Eigen::Vector3d vulp::actuation::ImuData::angular_velocity_imu_in_imu = Eigen::Vector3d::Zero()

Body angular velocity of the IMU frame in [rad] / [s].

Note: The full name of the body angular vector would be "angular velocity IMU to world in IMU", but as for all body angular velocities, "angular velocity Body to X in Body" is the same for all inertial frames X (that have zero velocity relative to the world frame). See for instance https://scaron.info/robotics/screw-theory.html#body-screws for the math.

Definition at line 30 of file ImuData.h.

Eigen::Vector3d vulp::actuation::ImuData::linear_acceleration_imu_in_imu = Eigen::Vector3d::Zero()

Body linear acceleration of the IMU, in [m] / [s]².

Note: This quantity corresponds to SPI register 34 from the pi3hat https://github.com/mjbots/pi3hat/blob/master/docs/reference.md#imu-register-mapping from which gravity has been substracted out. Raw IMU data (including gravity) is returned in register 33.

Definition at line 39 of file ImuData.h.

Eigen::Quaterniond vulp::actuation::ImuData::orientation_imu_in_ars = Eigen::Quaterniond::Identity()

Orientation from the IMU frame to the attitude reference system (ARS) frame.

The attitude reference system frame has +x forward, +y right and +z down, whereas our world frame has +x forward, +y left and +z up: https://github.com/mjbots/pi3hat/blob/ab632c82bd501b9fcb6f8200df0551989292b7a1/docs/reference.md#orientation

Definition at line 20 of file ImuData.h.

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