navlie.lib.imu.IMU¶

class navlie.lib.imu.IMU(gyro: ndarray, accel: ndarray, stamp: float, bias_gyro_walk: ndarray = [0, 0, 0], bias_accel_walk: ndarray = [0, 0, 0], state_id: Any | None = None, covariance: ndarray | None = None)¶

Bases: Input

Data container for an IMU reading.

Parameters:

gyro (np.ndarray with size 3) – Gyro reading
accel (np.ndarray with size 3) – Accelerometer reading
stamp (float) – Timestamp
bias_gyro_walk (np.ndarray with size 3, optional) – Driving input for gyro bias random walk, by default [0, 0, 0]
bias_accel_walk (np.ndarray with size 3, optional) – Driving input for accel bias random walk, by default [0, 0, 0]
state_id (Any, optional) – State ID associated with the reading, by default None
covariance (np.ndarray with size 12x12, optional) – Covariance matrix describing the IMU noise, by default None.

gyro¶

Gyro reading

Type:: np.ndarray

accel¶

Accelerometer reading

Type:: np.ndarray

bias_gyro_walk¶

driving input for gyro bias random walk

Type:: np.ndarray

bias_accel_walk¶

driving input for accel bias random walk

Type:: np.ndarray

state_id¶

State ID associated with the reading

Type:: Any

plus(w: ndarray)¶

Modifies the IMU data. This is used to add noise to the IMU data.

Parameters:: w (np.ndarray with size 12) – w[0:3] is the gyro noise, w[3:6] is the accel noise, w[6:9] is the gyro bias walk noise, w[9:12] is the accel bias walk noise

copy()¶: Creates a deep copy of the object.

static random()¶: Returns a random IMU measurement.

stamp¶

Timestamp

Type:: float

dof¶

Degrees of freedom of the object

Type:: int

covariance¶

Covariance matrix of the object. Has shape (dof, dof)

Type:: np.ndarray

navlie.lib.imu.inverse_IE3

navlie.lib.imu.IMUKinematics