laas/morse — pull request #101 by flixr (2012-08-28 10:43:45+00:00)
Title: fix rotation for IMU sensor

Sorry, in the new IMU sensor the rotation into the sensor frame was still wrong.
Accidentally made a pull request for the version that wasn't already fixed and tested....

Additionally I also changed it so that the acceleration due to an offset from the center of rotation (which is assumed to be in the robot frame origin) is only computed if this is greater than 1cm.
And added the linear acceleration due to angular acceleration for completeness.