Compass measurements

Normally, IMUs include compass measurements. I am considering using the compass measurements to add global orientation factors. I imagine that the relation with the inertial part can be approached very differently.. These measurements come normally altogether but they are very different sensors..

1. Include compass measurements in all IMU related code in WOLF. Add compass measurement in CaptureImu and modify ProcessorImu to establish (optionally) these global factors.
2. Decouple absolutely compass: Create SensorCompass, ProcessorCompass and CaptureCompass and implement everything completely independent.

I imagine that there could be some middlepoints that could be interesting like for example modify CaptureImu but create a ProcessorCompass. But I don't have any opinion about which would be the best way to approach this.. I can only imagine that doing all in an independent sensor/capture/processor would be easier to implement (not touching ProcessorImu).

added Agreement required label

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/imu#18 (closed)

I think too going with independent classes would be less of a headache even though in pratice these measurements come from the same physical device.

closed