IMU Data API Reference

IMUDataSubscriber

Constructor:

IMUDataSubscriber(ip, port=8002, hwm=1, conflate=True, verbose=False)

Parameters:

• ip (str): iPhone's IP address

• port (int): Port number (default: 8002, fixed for IMU data)

• hwm (int): High water mark (default: 1, keeps only latest message)

• conflate (bool): Message conflation (default: True)

• verbose (bool): Print connection info (default: False)

Usage:

# Create IMU subscriber
sub = IMUDataSubscriber("192.168.1.100")
​
# Continuously receive IMU data
for data in sub:
    print(data.accelerometer)
    print(data.gyroscope)
​
# Close when done
sub.close()

Main Methods:

Method	Returns	Description
get()	IMUFrame or None	Get latest IMU data frame
get_timestamp()	float or None	Get timestamp only
get_accelerometer()	np.ndarray or None	Get accelerometer only
get_gyroscope()	np.ndarray or None	Get gyroscope only
get_magnetometer()	np.ndarray or None	Get magnetometer only
get_gravity()	np.ndarray or None	Get gravity vector only
get_user_acceleration()	np.ndarray or None	Get user acceleration only
get_attitude()	np.ndarray or None	Get attitude quaternion only
close()	None	Close connection

Note:

• The subscriber is iterable, so you can use for data in sub: to receive frames continuously.

• All get_*() methods accept an optional timeout parameter (default: 1000ms).

IMUFrame

Data object returned by get() or when iterating. For data format details and physical meanings, see IMU Data Format Reference above.

Properties:

Property	Type	Description
timestamp	float	Unix timestamp in seconds
accelerometer	np.ndarray	Accelerometer $[a_x, a_y, a_z]$ in G
gyroscope	np.ndarray	Gyroscope $[\omega_x, \omega_y, \omega_z]$ in rad/s
magnetometer	np.ndarray	Magnetometer $[m_x, m_y, m_z]$ in μT
gravity	np.ndarray	Gravity $[g_x, g_y, g_z]$ in G
user_acceleration	np.ndarray	User acceleration $[u_x, u_y, u_z]$ in G
attitude	np.ndarray	Attitude quaternion $[q_x, q_y, q_z, q_w]$

Helper Properties:

Property	Type	Description
has_accelerometer	bool	Check if accelerometer data exists
has_gyroscope	bool	Check if gyroscope data exists
has_magnetometer	bool	Check if magnetometer data exists
has_gravity	bool	Check if gravity data exists
has_user_acceleration	bool	Check if user acceleration exists
has_attitude	bool	Check if attitude data exists