ImuOutputs.hpp

// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include <cstdint>
#include <util/Eigen.hpp>
 
#include <vn/types.h>
 
namespace NAV::vendor::vectornav
{
struct ImuOutputs
{
    vn::protocol::uart::ImuGroup imuField = vn::protocol::uart::ImuGroup::IMUGROUP_NONE;
 
    uint16_t imuStatus{};
 
    Eigen::Vector3f uncompMag{};
 
    Eigen::Vector3f uncompAccel{};
 
    Eigen::Vector3f uncompGyro{};
 
    float temp{};
 
    float pres{};
 
    float deltaTime{};
 
    Eigen::Vector3f deltaTheta{};
 
    Eigen::Vector3f deltaV{};
 
    Eigen::Vector3f mag{};
 
    Eigen::Vector3f accel{};
 
    Eigen::Vector3f angularRate{};
};
 
} // namespace NAV::vendor::vectornav