[Rock-dev] IMUSensor - temperature and inclinometers values

[Javier Hidalgo Carrió]

Dear all,

I am integrating a new IMU in rock, which gives also Inclinometers 
(m/s^2) and temperature (Celsius Degrees).
The current IMUSensor structure allows:

          /** Timestamp of the orientation reading */
         Time time;

         /** raw accelerometer readings */
         base::Vector3d acc;

         /** raw gyro reading*/
         base::Vector3d gyro;

         /** raw magnetometer reading*/
         base::Vector3d mag;

My question is:

1) To extend IMUSensor in base/samples/imu.h to have temperature (like 
the Xsens also gives) and inclinometers (it is given for better initial 
leveling)
2) Create a new data struct in my rock-driver i.e IMUSensorExtend 
structure to this IMU.

Which is the best?

Thanks,

Javier.

-- 
Javier Hidalgo Carrió
ESA - NPI Programme
Researcher

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
http://robotik.dfki-bremen.de

Phone:+49(0)421 17845 6661
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