1module-imu.cc 2 3implements two uses of a IMU: 4 5ModuleIMU ("imu") mimics an IMU by sending to the output 6the measures of a strapdown IMU (angular velocity and acceleration 7components in a reference frame attached to the chassis of the sensor), 8making them also available as private data. 9 10ModuleIMUConstraint ("imu constraint") prescribes the angular velocity 11and the acceleration of the point it is attached to. 12 13In both cases the IMU can be rigidly offset and oriented with respect 14to the structural node it is attached to. 15 16Test: in two separate terminals, execute 17 18 mbdyn imu 19 mbdyn imu_constraint 20 21The model in file "imu" uses the "imu" user-defined element to produce 22the output of a 3-axis strapdown accelerometer and gyro, and sends it 23on a stream. 24 25The model in file "imu_constraint" uses the "imu constraint" user-defined 26element to read the output of the other model, and impose it to another body. 27 28The motion of node 1 from "imu" should be (nearly) identical to that 29of node 1 from "imu_constraint" 30 31