Inertial Measurement Unit data.

Fields

• orientation - Orientation as BB.Math.Quaternion.t()
• angular_velocity - Angular velocity as BB.Math.Vec3.t() in rad/s
• linear_acceleration - Linear acceleration as BB.Math.Vec3.t() in m/s²

Optional uncertainty fields

Drivers with known noise characteristics may populate per-channel covariance matrices. Algorithms that consume them check for nil and either fall back to a configured default or refuse the reading. Mirrors the ROS sensor_msgs/Imu shape.

• orientation_covariance - BB.Math.Covariance3.t() | nil

• angular_velocity_covariance - BB.Math.Covariance3.t() | nil

• linear_acceleration_covariance - BB.Math.Covariance3.t() | nil

Examples

alias BB.Message.Sensor.Imu
alias BB.Math.{Vec3, Quaternion}

{:ok, msg} = Imu.new(:imu_link,
  orientation: Quaternion.identity(),
  angular_velocity: Vec3.zero(),
  linear_acceleration: Vec3.new(0.0, 0.0, 9.81)
)