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Imu direction and scope update #36

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Merged
prony5 merged 2 commits into from
Jul 19, 2025
Merged

Imu direction and scope update #36

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4e78abf
Make imu values protected for manipulation
Sh1co Jul 18, 2025
8968699
Remove unnecessary Inverse Transform
Sh1co Jul 18, 2025
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14 changes: 8 additions & 6 deletions Runtime/Tx/ImuTx.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,6 @@ namespace ProBridgeSenors.Tx
[AddComponentMenu("ProBridge/Tx/sensor_msgs/Imu")]
public class ImuTx : ProBridgeTxStamped<Imu>
{
public Vector3 acceleration { get; private set; }


[Header("Noise Parameters")]
Expand All @@ -24,7 +23,9 @@ public class ImuTx : ProBridgeTxStamped<Imu>
private Vector3 _lastPosition;
private Quaternion _lastRotation;
private Vector3 _velocity;
private Vector3 _angularVelocity;
protected Vector3 _acceleration;
protected Vector3 _angularVelocity;
protected Quaternion _orientation;
private bool _isGlobal;
private Vector3 _gravityDirection;
private float _gravityMagnitude;
Expand All @@ -48,15 +49,16 @@ void FixedUpdate()
_lastPosition = transform.position;
_lastRotation = transform.rotation;

acceleration = (_velocity - _lastVel) / Time.fixedDeltaTime - transform.InverseTransformDirection(_gravityDirection) * _gravityMagnitude;;
_acceleration = (_velocity - _lastVel) / Time.fixedDeltaTime - _gravityDirection * _gravityMagnitude;;

if (!_isGlobal)
{
acceleration = transform.InverseTransformDirection(acceleration);
_acceleration = transform.InverseTransformDirection(_acceleration);
_angularVelocity = transform.InverseTransformDirection(_angularVelocity);
}

_lastVel = _velocity;
_orientation = transform.rotation;
}
protected override ProBridge.ProBridge.Msg GetMsg(TimeSpan ts)
{
Expand All @@ -82,8 +84,8 @@ protected override ProBridge.ProBridge.Msg GetMsg(TimeSpan ts)
}

data.angular_velocity = _angularVelocity.ToRosAngular();
data.linear_acceleration = acceleration.ToRos();
data.orientation = transform.rotation.ToRos();
data.linear_acceleration = _acceleration.ToRos();
data.orientation = _orientation.ToRos();

return base.GetMsg(ts);
}
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