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 |
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 |