Change folder name

test/sensor_simulator/imu.cpp

@@ -0,0 +1,44 @@
+#include "Imu.h"
+
+namespace sensor_simulator::sensor
+{
+
+Imu::Imu(Ekf* ekf):Sensor(ekf)
+{
+}
+
+Imu::~Imu()
+{
+}
+
+void Imu::send(uint32_t time)
+{
+	// fill imu sample with stored data
+	imuSample imu_sample;
+	imu_sample.time_us = time;
+	imu_sample.delta_ang_dt = (time - _time_last_data_sent) * 1.e-6f;
+	imu_sample.delta_ang = _gyro_data * imu_sample.delta_ang_dt;
+	imu_sample.delta_vel_dt = (time - _time_last_data_sent) * 1.e-6f;
+	imu_sample.delta_vel = _accel_data * imu_sample.delta_vel_dt;
+
+	_ekf->setIMUData(imu_sample);
+	_time_last_data_sent = time;
+}
+
+void Imu::setData(Vector3f accel, Vector3f gyro)
+{
+	setAccelData(accel);
+	setGyroData(gyro);
+}
+
+void Imu::setAccelData(Vector3f accel)
+{
+	_accel_data = accel;
+}
+
+void Imu::setGyroData(Vector3f gyro)
+{
+	_gyro_data = gyro;
+}
+
+} // namespace sensor_simulator::sensor