From 9aa04889b6d6cf18ccf927c670a5bb75974df92d Mon Sep 17 00:00:00 2001
From: Eran <librealsense.eran@gmail.com>
Date: Mon, 17 Jun 2024 08:35:41 +0300
Subject: [PATCH] add motion_device::get_combined_motion_data()

---
 include/librealsense2/hpp/rs_frame.hpp | 10 +++++++-
 wrappers/python/c_files.cpp            | 34 ++++++++++++++++++++++++++
 wrappers/python/pyrs_frame.cpp         |  3 ++-
 3 files changed, 45 insertions(+), 2 deletions(-)

diff --git a/include/librealsense2/hpp/rs_frame.hpp b/include/librealsense2/hpp/rs_frame.hpp
index 9257cdf5e9b..857e747d7e1 100644
--- a/include/librealsense2/hpp/rs_frame.hpp
+++ b/include/librealsense2/hpp/rs_frame.hpp
@@ -903,7 +903,7 @@ namespace rs2
             error::handle(e);
         }
         /**
-        * Retrieve the motion data from IMU sensor
+        * Retrieve the motion data from IMU sensor (GYRO/ACCEL, not MOTION)
         * \return rs2_vector - 3D vector in Euclidean coordinate space.
         */
         rs2_vector get_motion_data() const
@@ -911,6 +911,14 @@ namespace rs2
             auto data = reinterpret_cast<const float*>(get_data());
             return rs2_vector{ data[0], data[1], data[2] };
         }
+        /**
+        * Retrieve the combined motion data from MOTION sensor (not GYRO/ACCEL)
+        * \return rs2_combined_motion - including linear acceleration and angular velocity.
+        */
+        rs2_combined_motion get_combined_motion_data() const
+        {
+            return *reinterpret_cast< rs2_combined_motion const * >( get_data() );
+        }
     };
 
     class pose_frame : public frame
diff --git a/wrappers/python/c_files.cpp b/wrappers/python/c_files.cpp
index faf9603c3d9..881f9745fad 100644
--- a/wrappers/python/c_files.cpp
+++ b/wrappers/python/c_files.cpp
@@ -132,6 +132,40 @@ void init_c_files(py::module &m) {
             return ss.str();
         });
 
+    py::class_< rs2_combined_motion > combined_motion( m, "combined_motion", "IMU combined GYRO & ACCEL data" );
+    combined_motion.def( py::init<>() )
+        .def_property(
+            "angular_velocity",
+            []( rs2_combined_motion const & self )
+            {
+                return rs2_vector{ (float)self.angular_velocity.x,
+                                   (float)self.angular_velocity.y,
+                                   (float)self.angular_velocity.z };
+            },
+            []( rs2_combined_motion & self, rs2_vector const & v ) {
+                self.angular_velocity = { v.x, v.y, v.z };
+            } )
+        .def_property(
+            "linear_acceleration",
+            []( rs2_combined_motion const & self )
+            {
+                return rs2_vector{ (float)self.linear_acceleration.x,
+                                   (float)self.linear_acceleration.y,
+                                   (float)self.linear_acceleration.z };
+            },
+            []( rs2_combined_motion & self, rs2_vector const & v ) {
+                self.linear_acceleration = { v.x, v.y, v.z };
+            } )
+        .def( "__repr__",
+              []( const rs2_combined_motion & self )
+              {
+                  std::ostringstream ss;
+                  ss << "gyro[" << self.angular_velocity.x << "," << self.angular_velocity.y << ","
+                      << self.angular_velocity.z << "] accel[" << self.linear_acceleration.x << ","
+                      << self.linear_acceleration.y << "," << self.linear_acceleration.z << "]";
+                  return ss.str();
+              } );
+
     py::class_<rs2_pose> pose(m, "pose"); // No docstring in C++
     pose.def(py::init<>())
         .def_readwrite("translation", &rs2_pose::translation, "X, Y, Z values of translation, in meters (relative to initial position)")
diff --git a/wrappers/python/pyrs_frame.cpp b/wrappers/python/pyrs_frame.cpp
index 18163bd2ff7..e82dbaae9a6 100644
--- a/wrappers/python/pyrs_frame.cpp
+++ b/wrappers/python/pyrs_frame.cpp
@@ -285,7 +285,8 @@ void init_frame(py::module &m) {
 
     py::class_<rs2::motion_frame, rs2::frame> motion_frame(m, "motion_frame", "Extends the frame class with additional motion related attributes and functions");
     motion_frame.def(py::init<rs2::frame>())
-        .def("get_motion_data", &rs2::motion_frame::get_motion_data, "Retrieve the motion data from IMU sensor.")
+        .def("get_motion_data", &rs2::motion_frame::get_motion_data, "Retrieve motion data from a GYRO/ACCEL sensor")
+        .def("get_combined_motion_data", &rs2::motion_frame::get_combined_motion_data, "Retrieve motion data from a MOTION sensor")
         .def_property_readonly("motion_data", &rs2::motion_frame::get_motion_data, "Motion data from IMU sensor. Identical to calling get_motion_data.");
 
     py::class_<rs2::pose_frame, rs2::frame> pose_frame(m, "pose_frame", "Extends the frame class with additional pose related attributes and functions.");