enum mrpt::obs::TIMUDataIndex¶

Overview¶

Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU) More…

#include <CObservationIMU.h>

enum TIMUDataIndex
{
    IMU_X_ACC             = 0,
    IMU_Y_ACC,
    IMU_Z_ACC,
    IMU_YAW_VEL,
    IMU_WZ                = IMU_YAW_VEL,
    IMU_PITCH_VEL,
    IMU_WY                = IMU_PITCH_VEL,
    IMU_ROLL_VEL,
    IMU_WX                = IMU_ROLL_VEL,
    IMU_X_VEL,
    IMU_Y_VEL,
    IMU_Z_VEL,
    IMU_YAW,
    IMU_PITCH,
    IMU_ROLL,
    IMU_X,
    IMU_Y,
    IMU_Z,
    IMU_MAG_X,
    IMU_MAG_Y,
    IMU_MAG_Z,
    IMU_PRESSURE,
    IMU_ALTITUDE,
    IMU_TEMPERATURE,
    IMU_ORI_QUAT_X,
    IMU_ORI_QUAT_Y,
    IMU_ORI_QUAT_Z,
    IMU_ORI_QUAT_W,
    IMU_YAW_VEL_GLOBAL,
    IMU_PITCH_VEL_GLOBAL,
    IMU_ROLL_VEL_GLOBAL,
    IMU_X_ACC_GLOBAL,
    IMU_Y_ACC_GLOBAL,
    IMU_Z_ACC_GLOBAL,
    COUNT_IMU_DATA_FIELDS,
};

Detailed Documentation¶

Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU)

Enum Values¶

IMU_X_ACC

x-axis acceleration (local/vehicle frame) (m/sec 2)

IMU_Y_ACC

y-axis acceleration (local/vehicle frame) (m/sec 2)

IMU_Z_ACC

z-axis acceleration (local/vehicle frame) (m/sec 2)

IMU_YAW_VEL

yaw angular velocity (local/vehicle frame) (rad/sec)

IMU_WZ

angular velocity - z (local/vehicle frame) (rad/sec)

IMU_PITCH_VEL

pitch angular velocity (local/vehicle frame) (rad/sec)

IMU_WY

angular velocity - y (local/vehicle frame) (rad/sec)

IMU_ROLL_VEL

roll angular velocity (local/vehicle frame) (rad/sec)

IMU_WX

angular velocity - x (local/vehicle frame) (rad/sec)

IMU_X_VEL

x-axis velocity (global/navigation frame) (m/sec)

IMU_Y_VEL

y-axis velocity (global/navigation frame) (m/sec)

IMU_Z_VEL

z-axis velocity (global/navigation frame) (m/sec)

IMU_YAW

orientation yaw absolute value (global/navigation frame) (rad)

IMU_PITCH

orientation pitch absolute value (global/navigation frame) (rad)

IMU_ROLL

orientation roll absolute value (global/navigation frame) (rad)

IMU_X

x absolute value (global/navigation frame) (meters)

IMU_Y

y absolute value (global/navigation frame) (meters)

IMU_Z

z absolute value (global/navigation frame) (meters)

IMU_MAG_X

x magnetic field value (local/vehicle frame) (gauss)

IMU_MAG_Y

y magnetic field value (local/vehicle frame) (gauss)

IMU_MAG_Z

z magnetic field value (local/vehicle frame) (gauss)

IMU_PRESSURE

air pressure (Pascals)

IMU_ALTITUDE

altitude from an altimeter (meters)

IMU_TEMPERATURE

temperature (degrees Celsius)

IMU_ORI_QUAT_X

Orientation Quaternion X (global/navigation frame)

IMU_ORI_QUAT_Y

Orientation Quaternion Y (global/navigation frame)

IMU_ORI_QUAT_Z

Orientation Quaternion Z (global/navigation frame)

IMU_ORI_QUAT_W

Orientation Quaternion W (global/navigation frame)

IMU_YAW_VEL_GLOBAL

yaw angular velocity (global/navigation frame) (rad/sec)

IMU_PITCH_VEL_GLOBAL

pitch angular velocity (global/navigation frame) (rad/sec)

IMU_ROLL_VEL_GLOBAL

roll angular velocity (global/navigation frame) (rad/sec)

IMU_X_ACC_GLOBAL

x-axis acceleration (global/navigation frame) (m/sec 2)

IMU_Y_ACC_GLOBAL

y-axis acceleration (global/navigation frame) (m/sec 2)

IMU_Z_ACC_GLOBAL

z-axis acceleration (global/navigation frame) (m/sec 2)