imu.hpp

// Copyright (C) 2024 Avular Holding B.V. - All Rights Reserved
// You may use this code under the terms of the Avular
// Software End-User License Agreement.
//
// You should have received a copy of the Avular
// Software End-User License Agreement license with
// this file, or download it from: avular.com/eula
//
/*****************************************************************************
 * Created on: 2024 July 23
 * Author: Robbert-Jan de Jager
 *
 * Implementation of the imu message.
 ****************************************************************************/
#pragma once
 
#include <array>
#include <creos/enum.hpp>
#include <creos/robot_clock.hpp>
#include <nlohmann/json.hpp>
 
#include "generic.hpp"
 
namespace creos_messages {
 
struct Imu {
 
    creos::RobotClock::time_point timestamp;
 
    std::string frame_id;
 
    Quaternionf orientation = {0, 0, 0, 1};
 
    Matrixf<3, 3> orientation_covariance;
 
    Vector3f angular_velocity = {0, 0, 0};
 
    Matrixf<3, 3> angular_velocity_covariance;
 
    Vector3f linear_acceleration = {0, 0, 0};
 
    Matrixf<3, 3> linear_acceleration_covariance;
 
    auto operator<=>(const Imu& other) const = default;
};
 
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Imu, timestamp, orientation, orientation_covariance, angular_velocity,
                                   angular_velocity_covariance, linear_acceleration, linear_acceleration_covariance);
 
enum class ImuId {
    kBody,  
};
 
}  // namespace creos_messages
 
DEFINE_ENUM_STRING_CONVERSIONS(creos_messages::ImuId, {{creos_messages::ImuId::kBody, "body"}})