A single IMU sample from the camera. More...

Classes
struct	Measurement
	A generic measurement for a 3-axis IMU. More...

Public Attributes
std::optional< Measurement >	accelerometer = std::nullopt
	The acceleration in units of Gs.

std::optional< Measurement >	gyroscope = std::nullopt
	The rotational velocity in degrees-per-second.

std::optional< Measurement >	magnetometer = std::nullopt
	The measured magnetic field in milligauss.

TimeT	sample_time {}
	The MultiSense timestamp associated with the frame.

TimeT	ptp_sample_time {}
	The MultiSense ptp timestamp associated with the frame.

Detailed Description

A single IMU sample from the camera.

Definition at line 402 of file MultiSenseTypes.hh.

Member Data Documentation

std::optional<Measurement> multisense::ImuSample::accelerometer = std::nullopt

The acceleration in units of Gs.

Depending on the IMU configuration of the sensor, this may be invalid (i.e. the MultiSense has separate accelerometer and gyroscope chips)

Definition at line 429 of file MultiSenseTypes.hh.

std::optional<Measurement> multisense::ImuSample::gyroscope = std::nullopt

The rotational velocity in degrees-per-second.

Depending on the IMU configuration of the sensor, this may be invalid (i.e. the MultiSense has separate accelerometer and gyroscope chips)

Definition at line 434 of file MultiSenseTypes.hh.

std::optional<Measurement> multisense::ImuSample::magnetometer = std::nullopt

The measured magnetic field in milligauss.

Depending on the IMU configuration of the sensor, this may be invalid (i.e. the MultiSense has a separate magnetometer chip)

Definition at line 439 of file MultiSenseTypes.hh.

TimeT multisense::ImuSample::ptp_sample_time {}

The MultiSense ptp timestamp associated with the frame.

Definition at line 449 of file MultiSenseTypes.hh.

TimeT multisense::ImuSample::sample_time {}

The MultiSense timestamp associated with the frame.

Definition at line 444 of file MultiSenseTypes.hh.

The documentation for this struct was generated from the following file:

/home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh