A single IMU sample from the camera. More...

#include <MultiSenseTypes.hh>

Classes
struct	Measurement
	A generic measurement for a 3-axis IMU. More...

Public Attributes
std::optional< Measurement >	accelerometer = std::nullopt
	The acceleration in units of Gs. Depending on the IMU configuration of the sensor, this may be invalid (i.e. the MultiSense has separate accelerometer and gyroscope chips) More...

std::optional< Measurement >	gyroscope = std::nullopt
	The rotational velocity in degrees-per-second. Depending on the IMU configuration of the sensor, this may be invalid (i.e. the MultiSense has separate accelerometer and gyroscope chips) More...

std::optional< Measurement >	magnetometer = std::nullopt
	The measured magnetic field in milligauss. Depending on the IMU configuration of the sensor, this may be invalid (i.e. the MultiSense has a separate magnetometer chip) More...

TimeT	ptp_sample_time {}
	The MultiSense ptp timestamp associated with the frame. More...

TimeT	sample_time {}
	The MultiSense timestamp associated with the frame. More...

Detailed Description

A single IMU sample from the camera.

Definition at line 365 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

Member Data Documentation

◆ accelerometer

std::optional<Measurement> multisense::ImuSample::accelerometer = std::nullopt

The acceleration in units of Gs. Depending on the IMU configuration of the sensor, this may be invalid (i.e. the MultiSense has separate accelerometer and gyroscope chips)

Definition at line 392 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ gyroscope

std::optional<Measurement> multisense::ImuSample::gyroscope = std::nullopt

The rotational velocity in degrees-per-second. Depending on the IMU configuration of the sensor, this may be invalid (i.e. the MultiSense has separate accelerometer and gyroscope chips)

Definition at line 397 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

◆ magnetometer

std::optional<Measurement> multisense::ImuSample::magnetometer = std::nullopt

The measured magnetic field in milligauss. Depending on the IMU configuration of the sensor, this may be invalid (i.e. the MultiSense has a separate magnetometer chip)

Definition at line 402 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.