IMU#

All parameters#

Name

Description

Expected type

acceleroX_expr

Expression altering the acceleration measures along X axis

string

acceleroY_expr

Expression altering the acceleration measures along Y axis

string

acceleroZ_expr

Expression altering the acceleration measures along Z axis

string

gyroP_expr

Expression altering the angular velocity measures along X axis

string

gyroQ_expr

Expression altering the angular velocity measures along Y axis

string

gyroR_expr

Expression altering the angular velocity measures along Z axis

string

out_of_order

If true, put the sensor out of service

boolean

pose_accelero

Accelerometer location and orientation. Expressed in the frame of the link it is attached to.

pose (6-component vector)

pose_gyro

Gyrometer location and orientation, both expressed in the frame of the link it is attached to.

pose (6-component vector)

rubber_filter/#

Name

Description

Expected type

accFilterRubberA

Rubber filter A coefficients for linear acceleration

vector of floating-point numbers

accFilterRubberB

Rubber filter B coefficients for linear acceleration

vector of floating-point numbers

gyroFilterRubberA

Rubber filter A coefficients for angular velocities

vector of floating-point numbers

gyroFilterRubberB

Rubber filter B coefficients for angular velocities

vector of floating-point numbers