Struct ImuSample 

pub struct ImuSample {
    pub timestamp: f64,
    pub accel: [f64; 3],
    pub gyro: [f64; 3],
    pub mag: [f64; 3],
}

A single sample from a 9-axis IMU.

All coordinate frames are body-fixed (right-hand rule, X forward, Y left, Z up) unless otherwise stated.

Fields

timestamp: f64

Timestamp in seconds.

accel: [f64; 3]

Accelerometer reading [ax, ay, az] in m/s².

gyro: [f64; 3]

Gyroscope reading [ωx, ωy, ωz] in rad/s.

mag: [f64; 3]

Magnetometer reading [bx, by, bz] in µT.

Implementations

impl ImuSample

pub fn new( timestamp: f64, accel: [f64; 3], gyro: [f64; 3], mag: [f64; 3], ) -> Self

Construct a new sample from component arrays.

pub fn to_bytes(&self) -> Vec<u8>

Serialize to 80 bytes of little-endian f64.

Layout: [t, ax, ay, az, ωx, ωy, ωz, bx, by, bz] (10 × 8 bytes).

pub fn from_bytes(data: &[u8]) -> Option<Self>

Deserialize from 80 bytes. Returns None on truncated input.

pub fn accel_magnitude(&self) -> f64

Magnitude of the accelerometer vector in m/s².

pub fn gyro_magnitude(&self) -> f64

Magnitude of the angular-rate vector in rad/s.

Trait Implementations

impl Clone for ImuSample

fn clone(&self) -> ImuSample

Returns a duplicate of the value.

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

Performs copy-assignment from source.

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: &ImuSample) -> bool

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for ImuSample