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cogimon / cogimon.github.io

COGIMON Top-Level Documentation
GNU Lesser General Public License v3.0
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IMU type in rtt-rrct-description #27

Closed OpenSoT closed 7 years ago

OpenSoT commented 7 years ago

To broadcast data fro the IMU in OROCOS we need the following 3 data types:

  1. Linear Acceleration (ax, ay, az)
  2. Angular Velocity ~(wx, wy, wz)~ -> (va, vb, vc)
  3. Orientation (~RPY,~ quaternion, ~any other parametrization...~) -> (qw, qx, qy, qz)

updated by: @xwavex

xwavex commented 7 years ago

Added types in https://github.com/corlab/rst-rt/commit/866946b2953b3e1847d7da1727975e4912bd7870 and https://github.com/corlab/rtt-rst-rt-typekit/commit/6f2e0981e046f7880bf40ddfdb562a0a4bcd6d56

Create IMU object:

rstrt::robot::IMU(rstrt::geometry::LinearAcceleration la, rstrt::geometry::AngularVelocity av, rstrt::geometry::Rotation rotation r);

or

rstrt::robot::IMU(ax, ay, az, va, vb, vc, qw, qx, qy, qz);