ImuData

Fully qualified name: isaacsim::ucx::nodes::ImuData

struct ImuData

Data structure for IMU message payload.

Contains IMU sensor data including orientation, linear acceleration, and angular velocity with flags indicating which fields are valid.

Public Members

double timestamp

Timestamp value in seconds.

std::string frameId

Frame ID for the IMU data.

bool publishOrientation

Flag to publish orientation data.

bool publishLinearAcceleration

Flag to publish linear acceleration data.

bool publishAngularVelocity

Flag to publish angular velocity data.

std::array<double, 4> orientation

Orientation quaternion (x, y, z, w)

std::array<double, 3> linearAcceleration

Linear acceleration vector (x, y, z)

std::array<double, 3> angularVelocity

Angular velocity vector (x, y, z)