Imu#

class pyCGM2.IMU.imu.Imu(freq: int, accel: ndarray | None, angularVelocity: ndarray | None, mag: ndarray | None)#

The IMU class represents an Inertial Measurement Unit (IMU) sensor.

Parameters:

freq (int) – Sampling frequency of the IMU data.
accel (Optional[np.ndarray]) – Acceleration data from the IMU, represented as a NumPy array.
angularVelocity (Optional[np.ndarray]) – Angular velocity data from the IMU, represented as a NumPy array.
mag (Optional[np.ndarray]) – Magnetometer data from the IMU, represented as a NumPy array.

__init__(freq: int, accel: ndarray | None, angularVelocity: ndarray | None, mag: ndarray | None)#: Initializes the Imu class with the specified frequency, acceleration data, angular velocity data, and magnetometer data.

Methods

`__init__`(freq, accel, angularVelocity, mag)	Initializes the Imu class with the specified frequency, acceleration data, angular velocity data, and magnetometer data.
`downsample`([freq])	Downsample IMU data to a specified frequency.
`getAcceleration`([axis])	Returns acceleration data.
`getAngleAxis`([axis])	Returns angle axis (equivalent to global angle) data.
`getAngularVelocity`([axis])	Returns angular velocity data.
`getMagnetometer`([axis])	Returns magnetometer data.
`getMotion`([index])	Returns motion data.
`getQuaternions`()	Returns quaternion data representing the orientation of the IMU.
`reInit`()	Restore initial values of IMU sensor data.
`update`(newAccelValues, newOmegaValues, ...)	Update IMU with new data.

downsample(freq: int = 400)#

Downsample IMU data to a specified frequency.

Parameters:: freq (int, optional) – Target frequency for downsampling. Defaults to 400 Hz.

getAcceleration(axis=None)#

Returns acceleration data.

Parameters:: axis (Optional[str], optional) – Specific axis (‘X’, ‘Y’, or ‘Z’) for which acceleration data is required. Defaults to None.
Returns:: np.ndarray – Acceleration data for the specified axis or all axes.

getAngleAxis(axis=None)#

Returns angle axis (equivalent to global angle) data.

Parameters:: axis (Optional[str], optional) – Specific axis (‘X’, ‘Y’, or ‘Z’) for which angle axis data is required. Defaults to None.
Returns:: np.ndarray – Angle axis data for the specified axis or all axes.

getAngularVelocity(axis=None)#

Returns angular velocity data.

Parameters:: axis (Optional[str], optional) – Specific axis (‘X’, ‘Y’, or ‘Z’) for which angular velocity data is required. Defaults to None.
Returns:: np.ndarray – Angular velocity data for the specified axis or all axes.

getMagnetometer(axis=None)#

Returns magnetometer data.

Parameters:: axis (Optional[str], optional) – Specific axis (‘X’, ‘Y’, or ‘Z’) for which magnetometer data is required. Defaults to None.
Returns:: np.ndarray – Magnetometer data for the specified axis or all axes.

getMotion(index: int | None = None)#

Returns motion data. If an index is provided, returns the motion data at the specified index.

Parameters:: index (Optional[int], optional) – Index for which motion data is required. Defaults to None.
Returns:: List[Frame] or Frame – Motion data for all frames or a specific frame at the given index.

getQuaternions()#

Returns quaternion data representing the orientation of the IMU.

update(newAccelValues: ndarray, newOmegaValues: ndarray, newMagValues: ndarray)#

Update IMU with new data.

Parameters: