Package limelight.results

Class IMUResults

java.lang.Object

limelight.results.IMUResults

public class IMUResults
extends Object

IMU results

Field Summary

Fields

Modifier and Type	Field	Description
double[]	data	Raw IMU array [roll, pitch, yaw, roll_rate, pitch_rate, yaw_rate, accel_x, accel_y, accel_z] (degrees, degrees/s, degrees/s^2)
double[]	quaternion	Orientation quaternion [w, x, y, z]
double	yaw	Final fused yaw (degrees)

Constructor Summary

Constructors

Constructor	Description
IMUResults()	IMU Results Constructor

Method Summary

Modifier and Type	Method	Description
Angle	getFusedYaw()	Get the fused yaw from the IMU data
Pair<Orientation3d,AngularAcceleration3d>	getIMUData()	Get the IMU data as a Pair of Orientation3d and AngularAcceleration3d
Rotation3d	Quaternion()	Get the Quaternion from the IMUResults

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

data

public double[] data

Raw IMU array [roll, pitch, yaw, roll_rate, pitch_rate, yaw_rate, accel_x, accel_y, accel_z] (degrees, degrees/s, degrees/s^2)

quaternion

public double[] quaternion

Orientation quaternion [w, x, y, z]

yaw

public double yaw

Final fused yaw (degrees)

Constructor Details

IMUResults

public IMUResults()

IMU Results Constructor

Method Details

Quaternion

public Rotation3d Quaternion()

Get the Quaternion from the IMUResults

Returns:

Quaternion as Rotation3d

getIMUData

public Pair<Orientation3d,AngularAcceleration3d> getIMUData()

Get the IMU data as a Pair of Orientation3d and AngularAcceleration3d

Returns:

Pair of Orientation3d and AngularAcceleration3d

getFusedYaw

public Angle getFusedYaw()

Get the fused yaw from the IMU data

Returns:

Fused yaw as Angle