Class IMU

• Defined in File IMU.h

Inheritance Relationships

Base Type

• public OpenSoT::Task< Eigen::MatrixXd, Eigen::VectorXd > (Template Class Task)

Class Documentation

class IMU : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

The IMU class estimates the orientation velocities of the floating base from the angular velocities of the IMU.

NOTE: we consider the IMU attached to the floating_base link

Public Types

typedef std::shared_ptr<IMU> Ptr

Public Functions

IMU(XBot::ModelInterface &robot, XBot::ImuSensor::ConstPtr imu)

IMU accept a robot model and an imu, throws an error if the imu is not attached to the floating_base.

Parameters

• robot –

• imu –

~IMU()

virtual void _update()

Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.