Struct ImuMeasurement 

pub struct ImuMeasurement { /* private fields */ }

IMU (Inertial Measurement Unit) sensor measurement data.

This type represents data from an IMU sensor, including accelerometer (linear acceleration), gyroscope (angular velocity), and compass (orientation) readings. IMU sensors are useful for vehicle dynamics analysis and state estimation.

Corresponds to [carla.IMUMeasurement] in the Python API.

Examples

use carla::{
    client::{ActorBase, Client},
    sensor::data::ImuMeasurement,
};

let client = Client::default();
let mut world = client.world();


sensor.listen(|sensor_data| {
    if let Ok(imu_data) = ImuMeasurement::try_from(sensor_data) {
        let accel = imu_data.accelerometer();
        let gyro = imu_data.gyroscope();
        let heading = imu_data.compass();

        println!(
            "Acceleration: ({:.2}, {:.2}, {:.2}) m/s²",
            accel.x, accel.y, accel.z
        );
        println!(
            "Angular velocity: ({:.2}, {:.2}, {:.2}) rad/s",
            gyro.x, gyro.y, gyro.z
        );
        println!("Compass heading: {:.2}°", heading);
    }
});

Implementations

impl ImuMeasurement

pub fn accelerometer(&self) -> Vector3D

Returns the accelerometer reading (linear acceleration) in m/s².

The vector components represent acceleration in the sensor’s local coordinate system:

• x: forward/backward
• y: left/right
• z: up/down

pub fn compass(&self) -> f32

Returns the compass heading in radians.

The compass value represents the orientation relative to north (0 radians).

pub fn gyroscope(&self) -> Vector3D

Returns the gyroscope reading (angular velocity) in rad/s.

The vector components represent rotation rates around the sensor’s local axes:

• x: roll rate (rotation around forward axis)
• y: pitch rate (rotation around lateral axis)
• z: yaw rate (rotation around vertical axis)

Trait Implementations

impl Clone for ImuMeasurement

fn clone(&self) -> ImuMeasurement

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ImuMeasurement

fn fmt(&self, __f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl TryFrom<SensorData> for ImuMeasurement

type Error = SensorData

The type returned in the event of a conversion error.

fn try_from(value: SensorData) -> Result<Self, Self::Error>

Performs the conversion.