Struct ImuSample 

pub struct ImuSample { /* private fields */ }

One IMU sample: angular rate and specific force in the body frame, averaged over the interval since the previous sample.

Angular rate about forward, right, down in rad/s; specific force along them in m/s². At rest the specific force is minus gravity, about [0, 0, −9.8] (down positive).

Implementations

impl ImuSample

pub fn new( angular_rate: [f64; 3], specific_force: [f64; 3], over: Duration, ) -> Result<Self>

Sample from angular rate, specific force and interval.

Errors

kinavis_kernel::KernelError::NotFinite for a non-finite component; kinavis_kernel::KernelError::OutOfRange for an interval of zero or over one second.

pub const fn angular_rate(&self) -> [f64; 3]

Angular rate about forward, right, down, rad/s.

pub const fn specific_force(&self) -> [f64; 3]

Specific force along forward, right, down, m/s².

pub const fn over(&self) -> Duration

Sample interval.

Trait Implementations

impl Clone for ImuSample

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for ImuSample

impl Debug for ImuSample

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

Formats the value using the given formatter.

impl PartialEq for ImuSample

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for ImuSample