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()
Namespace: ZO.ROS.MessageTypes.Sensor
Assembly: Unity.ZeroSim.dll
Syntax
public class ImuMessage : ZOROSMessageInterface

Constructors

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ImuMessage()

Declaration
public ImuMessage()
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ImuMessage(HeaderMessage, QuaternionMessage, Double[], Vector3Message, Double[], Vector3Message, Double[])

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
Type Name Description
HeaderMessage header
QuaternionMessage orientation
System.Double[] orientation_covariance
Vector3Message angular_velocity
System.Double[] angular_velocity_covariance
Vector3Message linear_acceleration
System.Double[] linear_acceleration_covariance

Properties

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angular_velocity

Declaration
public Vector3Message angular_velocity { get; set; }
Property Value
Type Description
Vector3Message
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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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header

Declaration
public HeaderMessage header { get; set; }
Property Value
Type Description
HeaderMessage
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linear_acceleration

Declaration
public Vector3Message linear_acceleration { get; set; }
Property Value
Type Description
Vector3Message
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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
Type Description
QuaternionMessage
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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

Methods

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Update()

Declaration
public void Update()

Implements