robotics_signals/sensors/
imu.rs1use crate::{
2 geometry::{Quarternion, Vector3},
3 standard::Header,
4};
5use cdds_derive::*;
6use cyclonedds_rs::*;
7use serde_derive::{Deserialize, Serialize};
8
9#[repr(C)]
10#[derive(Serialize, Deserialize, Topic)]
11pub struct Imu {
12 pub header: Header,
13
14 pub orientation: Quarternion,
15 pub orientation_covariance: [f64; 9],
17
18 pub angular_velocity: Vector3,
19 pub angular_velocity_covariance: [f64; 9],
21
22 pub linear_acceleration: Vector3,
23 pub linear_acceleration_covariance: [f64; 9],
25}