36 lines
1.0 KiB
C++
36 lines
1.0 KiB
C++
#pragma once
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#include <tests/Measurement.h>
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namespace gtsam {
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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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ImuMeasurement()
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: Measurement("ImuMeasurement"), I_a_WI{0, 0, 0}, I_w_WI{0, 0, 0} {}
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virtual ~ImuMeasurement() override {}
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friend std::ostream& operator<<(std::ostream& stream,
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const ImuMeasurement& meas);
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};
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std::ostream& operator<<(std::ostream& stream, const ImuMeasurement& meas) {
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stream << "IMU Measurement at time = " << meas.time << " : \n"
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<< "dt : " << meas.dt << "\n"
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<< "I_a_WI: " << meas.I_a_WI.transpose() << "\n"
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<< "I_w_WI: " << meas.I_w_WI.transpose() << "\n";
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return stream;
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}
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} // namespace gtsam
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