waterlinked::sonar::ImuBatchView Struct Reference

Batch of approximately 100 Hz IMU samples sent while acoustics is enabled. More...

#include <waterlinkedsonar/messages.hpp>

Public Attributes
std::uint32_t	batch_sequence_id {0}
	Increments per batch, independent of the imaging sequence IDs.
std::uint32_t	samples {0}
Span< const std::int64_t >	timestamps_ns
	Per-sample device timestamps, nanoseconds since the Unix epoch; samples entries.
Span< const float >	specific_force
	Specific force in m/s^2; samples * 3 entries as x, y, z triples.
Span< const float >	rate_of_turn
	Rate of turn in rad/s; samples * 3 entries as x, y, z triples.

Detailed Description

Batch of approximately 100 Hz IMU samples sent while acoustics is enabled.

The IMU is located at (-22, -46, -3) mm from the point-cloud origin. View lifetime is the same as RangeImageView.

Member Data Documentation

batch_sequence_id

std::uint32_t waterlinked::sonar::ImuBatchView::batch_sequence_id {0}

Increments per batch, independent of the imaging sequence IDs.

rate_of_turn

Span<const float> waterlinked::sonar::ImuBatchView::rate_of_turn

Rate of turn in rad/s; samples * 3 entries as x, y, z triples.

samples

std::uint32_t waterlinked::sonar::ImuBatchView::samples {0}

specific_force

Span<const float> waterlinked::sonar::ImuBatchView::specific_force

Specific force in m/s^2; samples * 3 entries as x, y, z triples.

timestamps_ns

Span<const std::int64_t> waterlinked::sonar::ImuBatchView::timestamps_ns

Per-sample device timestamps, nanoseconds since the Unix epoch; samples entries.

---

The documentation for this struct was generated from the following file:

• waterlinkedsonar/messages.hpp