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