Inertial Measurement Unit (IMU)

Simulates an IMU sensor, potentially with noise added but defaults to no noise. Return is in a 2D numpy array of either 2x3 (default) or 4x3 (with biases).

See IMUSensor for the Python API and more details.

Example sensor definition:

{
    "sensor_type": "IMUSensor",
    "socket": "IMUSocket",
    "Hz": 200,
    "configuration": {
        "AccelSigma": 0.00277,
        "AngVelSigma": 0.00123,
        "AccelBiasSigma": 0.00141,
        "AngVelBiasSigma": 0.00388,
        "ReturnBias": true
    }