#pragma once #include namespace drs { /// /// \brief Contains data from the IMU mesaurements. /// class ImuMeasurement : public Measurement { public: enum Name { BODY = 0, RF_FOOT = 1, RH_FOOT = 2 }; Name name; ///< Unique string identifier Eigen::Vector3d I_a_WI; ///< Raw acceleration from the IMU (m/s/s) Eigen::Vector3d I_w_WI; ///< Raw angular velocity from the IMU (rad/s) virtual ~ImuMeasurement() override {} ImuMeasurement(); friend std::ostream& operator<<(std::ostream& stream, const ImuMeasurement& meas); }; } // namespace drs