ADD: Implement measure function for IMU#56
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Added measurement function for IMU from Shankgeeth and Helen.
Helenh22
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wlodaralex
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Jul 9, 2026
| noise_std = noise_var ** 0.5 | ||
| random_bias = np.random.normal(0.0, noise_std, size=3) | ||
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| self._gauss_markov += alpha * self._gauss_markov + random_bias |
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I have concerns about how this will work within the simulation. Some integrators (like RK45, which is likely to get used) evaluate dynamics multiple times before committing to a step. Because of this, we'll be accumulating terms in self._gauss_markov during trial steps, inflating the rate at which the IMU noise is evolving. I think we'll need to make this explicitly depend on the simulation time (or some time since turn-on value).
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Also I believe this should just be an =. You're already multiplying the state by alpha, which should capture the evolution. Correct me if I'm wrong though, it's been a minute since I've looked at this stuff in detail.
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Added measurement function for IMU from Shankgeeth and Helen.