read_imu {simts}

Read an IMU Binary File into R

Description

The function will take a file location in addition to the type of sensor it came from and read the data into R.

Usage

read_imu(file_path, imu_type)

Arguments

file_path

A string that contains the full file path.

imu_type

A string that contains a supported IMU type given below.

Details

Currently supports the following IMUs:

• IMAR

• LN200

• LN200IG

• IXSEA

• NAVCHIP_INT

• NAVCHIP_FLT

We hope to soon be able to support delimited files.

Value

A matrix with dimensions N x 7, where the columns represent:

Col 0

Time

Col 1

Gyro 1

Col 2

Gyro 2

Col 3

Gyro 3

Col 4

Accel 1

Col 5

Accel 2

Col 6

Accel 3

References

Thanks goes to Philipp Clausen of Labo TOPO, EPFL, Switzerland, topo.epfl.ch, Tel:[phone] for providing a matlab function that reads in IMUs. The function below is a heavily modified port of MATLAB code into Armadillo/C++.