Class ImuMessage
This is a message to hold data from an IMU (Inertial Measurement Unit)
Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec
If the covariance of the measurement is known, it should be filled in (if all you know is the
variance of each measurement, e.g. from the datasheet, just put those along the diagonal)
A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the
data a covariance will have to be assumed or gotten from some other source
If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation
estimate), please set element 0 of the associated covariance matrix to -1
If you are interpreting this message, please check for a value of -1 in the first element of each
covariance matrix, and disregard the associated estimate.
Inheritance
System.Object
ImuMessage
Inherited Members
System.Object.Equals(System.Object)
System.Object.Equals(System.Object, System.Object)
System.Object.GetHashCode()
System.Object.GetType()
System.Object.MemberwiseClone()
System.Object.ReferenceEquals(System.Object, System.Object)
System.Object.ToString()
Assembly: Unity.ZeroSim.dll
Syntax
public class ImuMessage : ZOROSMessageInterface
Constructors
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ImuMessage()
Declaration
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Declaration
public ImuMessage(HeaderMessage header, QuaternionMessage orientation, double[] orientation_covariance, Vector3Message angular_velocity, double[] angular_velocity_covariance, Vector3Message linear_acceleration, double[] linear_acceleration_covariance)
Parameters
Properties
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angular_velocity
Declaration
public Vector3Message angular_velocity { get; set; }
Property Value
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angular_velocity_covariance
Declaration
public double[] angular_velocity_covariance { get; set; }
Property Value
Type |
Description |
System.Double[] |
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Declaration
public HeaderMessage header { get; set; }
Property Value
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linear_acceleration
Declaration
public Vector3Message linear_acceleration { get; set; }
Property Value
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linear_acceleration_covariance
Declaration
public double[] linear_acceleration_covariance { get; set; }
Property Value
Type |
Description |
System.Double[] |
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MessageType
Declaration
[JsonIgnore]
public string MessageType { get; }
Property Value
Type |
Description |
System.String |
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orientation
Declaration
public QuaternionMessage orientation { get; set; }
Property Value
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orientation_covariance
Declaration
public double[] orientation_covariance { get; set; }
Property Value
Type |
Description |
System.Double[] |
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Type
Declaration
[JsonIgnore]
public static string Type { get; }
Property Value
Type |
Description |
System.String |
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Methods
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Update()
Declaration
Implements