raisim::InertialMeasurementUnit::ImuProperties

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

Complete IMU measurement model. All model effects are disabled by default.

Public types

NoiseType

enum class NoiseType : int

Legacy additive sample noise, shared by both channels. Prefer noiseDensity.

Enumerator	Value	Description
GAUSSIAN	0	Gaussian sample noise.
UNIFORM		Uniform sample noise with half-width sqrt(3) times std.
NO_NOISE		Disable legacy additive sample noise.

Static member functions

stringToNoiseType static

static NoiseType stringToNoiseType(const std::string &type)

Parse gaussian/Gaussian or uniform/Uniform; other strings select NO_NOISE.

Public attributes

name

std::string name

Sensor name without the set prefix.

full_name

std::string full_name

Sensor name including its set prefix.

maxAcc

double maxAcc

Symmetric per-axis accelerometer range [m/s^2].

maxAngVel

double maxAngVel

Symmetric per-axis gyroscope range [rad/s].

noiseType

NoiseType noiseType

Selected legacy distribution; defaults to NO_NOISE.

mean

double mean

Legacy additive sample-noise mean, in each channel's units.

std

double std

Standard deviation; uniform noise has half-width sqrt(3) * std.

accelerometer

ChannelProperties accelerometer

Accelerometer parameters, using m/s^2 for channel units.

gyroscope

ChannelProperties gyroscope

Gyroscope parameters, using rad/s for channel units.

latency

double latency

Delivery latency [s], from 0 to 60. Acquisition timestamps remain unchanged.

seed

std::uint32_t seed

Zero derives a stream from sensor identity and owner id; nonzero selects an explicit stream. The World environment seed is mixed into both.