| 160 | } |
| 161 | |
| 162 | void writeImuHeader(shared_ptr<std::ofstream> file) { |
| 163 | *file << "#timestamp [ns]," |
| 164 | << "w_S_x [rad s^-1]," |
| 165 | << "w_S_y [rad s^-1]," |
| 166 | << "w_S_z [rad s^-1]," |
| 167 | << "a_S_x [m s^-2]," |
| 168 | << "a_S_y [m s^-2]," |
| 169 | << "a_S_z [m s^-2]" << endl; |
| 170 | } |
| 171 | |
| 172 | void writeViconHeader(shared_ptr<std::ofstream> file) { |
| 173 | *file << "#timestamp [ns]," |