creos_messages::Imu Struct Reference

IMU message containing the orientation, angular velocity and linear acceleration. More...

#include <creos/messages/imu.hpp>

Collaboration diagram for creos_messages::Imu:

Public Member Functions
auto	operator<=> (const Imu &other) const =default
	Compare two IMU messages.

Public Attributes
creos::RobotClock::time_point	timestamp
	Timestamp of the IMU message.
std::string	frame_id
	Frame id of the IMU message.
Quaternionf	orientation = {0, 0, 0, 1}
	Orientation quaternion in the order (x, y, z, w)
Matrixf< 3, 3 >	orientation_covariance
	the covariance matrix of the orientation. Row major about x, y, z
Vector3f	angular_velocity = {0, 0, 0}
	Angular velocity in the order (x, y, z) [rad/s].
Matrixf< 3, 3 >	angular_velocity_covariance
	the covariance matrix of the angular velocity. Row major about x, y, z
Vector3f	linear_acceleration = {0, 0, 0}
	Linear acceleration in the order (x, y, z) [m/s^2].
Matrixf< 3, 3 >	linear_acceleration_covariance
	the covariance matrix of the linear acceleration. Row major about x, y, z

Detailed Description

IMU message containing the orientation, angular velocity and linear acceleration.

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

• creos_msgs/include/creos/messages/imu.hpp