raisim::InertialMeasurementUnit::ChannelProperties

struct · #include <raisim/sensors/InertialMeasurementUnit.hpp>

Sensor-frame bias, bandwidth, stochastic errors and quantization for one channel.

Public attributes

bias

Eigen::Vector3d bias

Constant sensor-frame offset, in m/s^2 (accelerometer) or rad/s (gyro).

noiseDensity

double noiseDensity

Continuous white-noise strength, in channel units / sqrt(Hz).

biasRandomWalk

double biasRandomWalk

Brownian bias strength, in channel units / sqrt(s).

cutoffFrequency

double cutoffFrequency

First-order low-pass cutoff [Hz]. Zero bypasses filtering.

resolution

double resolution

Quantization step in channel units. Zero disables quantization.