.. index:: pair: struct; P1::ImageSdk::ImuData
.. _doxid-struct_p1_1_1_image_sdk_1_1_imu_data:

struct P1::ImageSdk::ImuData
============================

.. toctree::
	:hidden:

Overview
~~~~~~~~

An IMU data bundle, that defines the orientation of an auxillary IMU in space. :ref:`More...<details-struct_p1_1_1_image_sdk_1_1_imu_data>`


.. ref-code-block:: cpp
	:class: doxyrest-overview-code-block

	#include <P1ImageGpsImu.hpp>
	
	struct ImuData
	{
		// fields
	
		:ref:`Rational<doxid-struct_p1_1_1_image_sdk_1_1_rational>` :ref:`yaw<doxid-struct_p1_1_1_image_sdk_1_1_imu_data_1a86efa413bd8d4520bd9f4008a39fb29c>`;
		:ref:`Rational<doxid-struct_p1_1_1_image_sdk_1_1_rational>` :ref:`pitch<doxid-struct_p1_1_1_image_sdk_1_1_imu_data_1aeac0a0a20ac053183900c39f9b00b551>`;
		:ref:`Rational<doxid-struct_p1_1_1_image_sdk_1_1_rational>` :ref:`roll<doxid-struct_p1_1_1_image_sdk_1_1_imu_data_1a7781a976e9b711dc4ced7fae2fd14391>`;
		:ref:`ImuYawRef<doxid-namespace_p1_1_1_image_sdk_1add6201306dbaf82cf04a0dc201e0f5fc>` :ref:`yawRef<doxid-struct_p1_1_1_image_sdk_1_1_imu_data_1a2e14de0157b8f06fb23efd120d1c7d70>`;

		// methods
	
		std::string :target:`ToString<doxid-struct_p1_1_1_image_sdk_1_1_imu_data_1a87feca95bad4f37254a28bd59a7ce98d>`() const;
	};
.. _details-struct_p1_1_1_image_sdk_1_1_imu_data:

Detailed Documentation
~~~~~~~~~~~~~~~~~~~~~~

An IMU data bundle, that defines the orientation of an auxillary IMU in space.

If the camera has been been fitted with an IMU, this is the IMU orientation snapshot when the image was taken.

The orientation is defined by the principal axes yaw, pitch and roll expressed in degrees.

Fields
------

.. index:: pair: variable; yaw
.. _doxid-struct_p1_1_1_image_sdk_1_1_imu_data_1a86efa413bd8d4520bd9f4008a39fb29c:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	:ref:`Rational<doxid-struct_p1_1_1_image_sdk_1_1_rational>` yaw

Rotation on the vertical axis, where positive direction is clock-wise.

.. index:: pair: variable; pitch
.. _doxid-struct_p1_1_1_image_sdk_1_1_imu_data_1aeac0a0a20ac053183900c39f9b00b551:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	:ref:`Rational<doxid-struct_p1_1_1_image_sdk_1_1_rational>` pitch

Rotation on the tranversal axis, (wingtip to wingtip), positive direction raises the aircraft's nose.

.. index:: pair: variable; roll
.. _doxid-struct_p1_1_1_image_sdk_1_1_imu_data_1a7781a976e9b711dc4ced7fae2fd14391:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	:ref:`Rational<doxid-struct_p1_1_1_image_sdk_1_1_rational>` roll

Rotation on the longitudinal axis (aircraft's nose to tail), positive direction lifts the left wing, and lowers the right.

.. index:: pair: variable; yawRef
.. _doxid-struct_p1_1_1_image_sdk_1_1_imu_data_1a2e14de0157b8f06fb23efd120d1c7d70:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	:ref:`ImuYawRef<doxid-namespace_p1_1_1_image_sdk_1add6201306dbaf82cf04a0dc201e0f5fc>` yawRef

The definition of the Yaw reference point.