InertialUnit.wrl

# The InertialUnit node simulates an Inertial Measurement Unit (IMU).
# The InertialUnit node computes and returns the roll, pitch and yaw angles of the
# robot with respect to the global coordinate system defined in the WorldInfo node.
# parent: Solid

InertialUnit {
  #fields that inherit from the Solid node:
  w3dField SFVec3f    translation         0 0 0
  w3dField SFRotation rotation            0 0 1 0
  w3dField MFNode     children            []               # shape and solids fixed to that solid
  field    SFString   name                "inertial unit"  # used by wb_robot_get_device()
  field    SFString   model               ""               # generic name of the solid (eg: "chair")
  field    SFString   description         ""               # a short (1 line) of description of the solid
  field    SFString   contactMaterial     "default"        # see ContactProperties node
  field    MFNode     immersionProperties []               # see ImmersionProperties node
  field    SFNode     boundingObject      NULL             # for collision detection
  field    SFNode     physics             NULL             # physical properties (Physics node)
  field    SFBool     locked              FALSE            # to avoid moving objects with the mouse
  field    SFFloat    translationStep     0.01             # step size used by translation manipulator
  field    SFFloat    rotationStep        0.261799387      # step size used by rotation manipulator
  field    SFFloat    radarCrossSection   0.0              # radar cross section of this solid
  field    MFColor    recognitionColors   []               # colors returned for this Solid by Cameras with a Recognition node
  #fields specific to the InertialUnit node:
  field    SFFloat    noise               0
  field    SFBool     xAxis               TRUE
  field    SFBool     yAxis               TRUE
  field    SFBool     zAxis               TRUE
  field    SFFloat    resolution          -1               # resolution

  # hidden fields
  hiddenField SFVec3f linearVelocity      0 0 0            # (m/s) Solid's initial linear velocity
  hiddenField SFVec3f angularVelocity     0 0 0            # (rad/s) Solid's initial angular velocity

  # deprecated fields
  deprecatedField MFVec3f lookupTable     []
}