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’s location offset from center of gravity and accelerometer’s orientation, both expressed in body frame. The considered CoG is related to the solid the IMU is attached to.

pose (6-component vector)

pose_gyro

Gyrometer’s location offset from center of gravity and gyrometer’s orientation, both expressed in body frame. The considered CoG is related to the solid the IMU 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