Module sim 

Synthetic IMU generation from truth states or truth increments.

Structs

ImuRateRandomWalk

Optional rate-random-walk densities for the generated IMU.

ImuSimulationOptions

Options for synthetic IMU generation.

ImuSimulator

Stateful deterministic synthetic IMU generator.

SimulatedImuSequence

Batch output from synthetic IMU generation.

Enums

ImuSimulationOutput

Output representation for generated IMU samples.

Constants

DEFAULT_IMU_SIM_SEED

Default deterministic seed used by ImuSimulationOptions::default.

Functions

simulate_imu_samples

Generate IMU samples from a navigation-state truth trajectory.

simulate_imu_samples_from_increments

Generate IMU samples from coning/sculling truth increments.

true_imu_increment_between

Reconstruct the mechanization-consistent truth increment between two states.