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