RobotLocomotion/drake — pull request #234 by tkoolen (2014-07-16 18:54:14+00:00)
Title: RigidBodyInertialMeasurementUnit

Updated RigidBodyInertialMeasurementUnit and added test. Output of IMU changed from [quat; rpydot; point acceleration in world frame] to [quat; angular velocity in body frame; point acceleration rotated to body frame]. Comparison between 2d and 3d currently fails because it's not possible to construct a RigidBodyInertialMeasurementUnit for a PlanarRigidBodyManipulator.