IMUState

Represents IMU linear acceleration, angular velocity, and orientation data.

Properties:

Property	Type	Description
header	Header	IMU metadata header

Read-only properties:

Property	Type	Description
linear_acceleration	np.ndarray	Linear acceleration [x, y, z], unit m/s^2
angular_velocity	np.ndarray	Angular velocity [x, y, z], unit rad/s
orientation	np.ndarray | None	Quaternion [x, y, z, w]
timestamp	float	Timestamp in seconds, equivalent to header.timestamp
frame_id	str	Coordinate frame ID, equivalent to header.frame_id
rpy	np.ndarray | None	Euler angles [roll, pitch, yaw], unit rad; computed from orientation

IMUState

Signature:

IMUState(
    linear_acceleration: np.ndarray,
    angular_velocity: np.ndarray,
    orientation: np.ndarray | None = None,
    header: Header | None = None,
)

Description:

Construct an IMUState instance.

Parameters:

Parameter	Type	Required	Description
linear_acceleration	np.ndarray	Yes	Linear acceleration [x, y, z], unit m/s^2
angular_velocity	np.ndarray	Yes	Angular velocity [x, y, z], unit rad/s
orientation	np.ndarray | None	No	Quaternion [x, y, z, w]; when None, rpy is also None
header	Header | None	No	IMU metadata header; uses default Header when not provided or None

Returns:

IMUState instance.

Raises:

None.

Example:

imu = robot.get_imu()
print(imu.timestamp, imu.frame_id)
# Example output: 1781086228.3448012
print(imu.linear_acceleration)
# Example output: [-0.44691575  0.10313473  9.79927158]
print(imu.rpy)
# Example output: [ 0.01052435  0.04557293 -1.38284385]

to_numpy

Signature:

IMUState.to_numpy() -> dict[str, np.ndarray]

Description:

Returns a dictionary containing available vectors. linear_acceleration and angular_velocity are always present; when orientation is not empty, orientation and rpy are also included.

Parameters:

No parameters.

Returns:

dict[str, np.ndarray].

Raises:

None.