msceqf::Imu Struct Reference

Struct for one IMU reading. It includes timestamp, angular velocity and linear acceleration. -1 indicates an invalid timestamp. More...

#include <sensor_data.hpp>

Public Member Functions
const Vector6	w () const
	Get the IMU measurement as a 6 vector (ang, acc)
const Matrix5	W () const
	get the IMU measurement as an extended matrix (ang, acc, 0)^ (SE23 lie algebra element)

Public Attributes
Vector3	ang_ = Vector3::Zero()
	Angular velocity vector.
Vector3	acc_ = Vector3::Zero()
	Acceleration vector.
fp	timestamp_ = -1
	Timestamp of the IMU reading.

Friends
bool	operator< (const Imu &lhs, const Imu &rhs)
	Comparison operator with other imu.
bool	operator< (const Imu &lhs, const fp &timestamp)
	Comparison operator with timestamp.
bool	operator< (const fp &timestamp, const Imu &rhs)
std::ostream &	operator<< (std::ostream &stream, Imu const &imu)
	Stream an Imu.

Detailed Description

Struct for one IMU reading. It includes timestamp, angular velocity and linear acceleration. -1 indicates an invalid timestamp.

Member Function Documentation

W()

const Matrix5 msceqf::Imu::W ( ) const

inline

get the IMU measurement as an extended matrix (ang, acc, 0)^ (SE23 lie algebra element)

Returns

IMU measurement as a SE23 lie algebra element

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w()

const Vector6 msceqf::Imu::w ( ) const

inline

Get the IMU measurement as a 6 vector (ang, acc)

Returns

R6 vector representing the IMU measurement as stacked angular velocity and linear acceleration

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

• include/sensors/sensor_data.hpp