ImuRawData

Fully qualified name: isaacsim::sensors::experimental::physics::ImuRawData

struct ImuRawData

Raw per-step IMU data stored in the circular buffer before filtering.

Public Members

float time = {0.0f}

Simulation time of this sample in seconds.

float dt = {0.0f}

Physics step delta time in seconds.

float linearVelocityX = {0.0f}

Linear velocity X component in m/s.

float linearVelocityY = {0.0f}

Linear velocity Y component in m/s.

float linearVelocityZ = {0.0f}

Linear velocity Z component in m/s.

float angularVelocityX = {0.0f}

Angular velocity X component in rad/s.

float angularVelocityY = {0.0f}

Angular velocity Y component in rad/s.

float angularVelocityZ = {0.0f}

Angular velocity Z component in rad/s.

float orientationW = {1.0f}

Orientation quaternion W component.

float orientationX = {0.0f}

Orientation quaternion X component.

float orientationY = {0.0f}

Orientation quaternion Y component.

float orientationZ = {0.0f}

Orientation quaternion Z component.