Struct IMUData

pub struct IMUData {
    pub accel: Vector3<f64>,
    pub gyro: Vector3<f64>,
}

Basic structure for holding IMU data in the form of acceleration and angular rate vectors.

The vectors are the body frame of the vehicle and represent relative movement. This structure and library is not intended to be a hardware driver for an IMU, thus the data is assumed to be pre-processed and ready for use in the mechanization equations (the IMU processing has already filtered out gravitational acceleration).

Fields

accel: Vector3<f64>

gyro: Vector3<f64>

Implementations

impl IMUData

pub fn new() -> IMUData

Create a new IMUData instance with all zeros

pub fn new_from_vector(accel: Vector3<f64>, gyro: Vector3<f64>) -> IMUData

Create a new IMUData instance from acceleration and gyro vectors

The vectors are in the body frame of the vehicle and represent relative movement. The acceleration vector is in m/s^2 and the gyro vector is in rad/s.

Arguments

• accel - A Vector3 representing the acceleration in m/s^2 in the body frame x, y, z axis.
• gyro - A Vector3 representing the angular rate in rad/s in the body frame x, y, z axis.

Returns

• An IMUData instance containing the acceleration and gyro vectors.

Example

use strapdown::IMUData;
use nalgebra::Vector3;
let imu_data = IMUData::new_from_vector(
   Vector3::new(0.0, 0.0, -9.81), // free fall acceleration in m/s^2
   Vector3::new(0.0, 0.0, 0.0) // No rotation
);

pub fn new_from_vec(accel: Vec<f64>, gyro: Vec<f64>) -> IMUData

Create a new IMUData instance from acceleration and gyro vectors in Vec format

The vectors are in the body frame of the vehicle and represent relative movement. The acceleration vector is in m/s^2 and the gyro vector is in rad/s.

Arguments

• accel - A Vector3 representing the acceleration in m/s^2 in the body frame x, y, z axis.
• gyro - A Vector3 representing the angular rate in rad/s in the body frame x, y, z axis.

Returns

• An IMUData instance containing the acceleration and gyro vectors.

Example

use strapdown::IMUData;
let imu_data = IMUData::new_from_vec(
   vec![0.0, 0.0, -9.81], // free fall acceleration in m/s^2
   vec![0.0, 0.0, 0.0] // No rotation
);

Trait Implementations

impl Clone for IMUData

fn clone(&self) -> IMUData

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for IMUData

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

Formats the value using the given formatter.

impl Default for IMUData

fn default() -> Self

Returns the “default value” for a type.

impl Display for IMUData

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

Formats the value using the given formatter.

impl Copy for IMUData