Struct ImuMeasurement

• Defined in File measurement.h

Struct Documentation

struct ImuMeasurement

One inertial-measurement-unit sample (gyro + accelerometer), used as an input to strapdown mechanization in Predict, not as a measurement-update model.

Kept as a plain data holder (it does not participate in the Measurement model hierarchy): the mechanization needs the full nav state and attitude, so no model methods live here.

Public Members

Real timestamp = 0.0

sample epoch [s]

Vec3 w = Vec3::Zero()

[rad/s] angular velocity

Vec3 a = Vec3::Zero()

[m/s^2] acceleration