syntax = "proto3";
package synapse_pb;

import "synapse_pb/timestamp.proto";
import "synapse_pb/vector3.proto";
import "synapse_pb/quaternion.proto";
import "synapse_pb/covariance3.proto";

message Imu {
	Timestamp stamp = 1;
	string frame_id = 2;
	Quaternion orientation = 3;
	Covariance3 orientation_covariance = 4;
	Vector3 angular_velocity = 5;
	Covariance3 angular_velocity_covariance = 6;
	Vector3 linear_acceleration = 7;
	Covariance3 linear_acceleration_covariance = 8;
}