A small tool for writing IMR file.
mkdir build
cd build
cmake .. -G Ninja
cmake --build .
cmake --install .Currently it will install the headers/lib to the build folder. Feel free to change the CMAKE_INSTALL_PREFIX or use stow to manage the lib.
The compiler will automatically align the memory of the struct. So the size of a struct will not equal the sum of each field. It's often bigger than the sum. Here, I use #pragma pack(push, 1) and #pragma pack(pop) to avoid memory alignment. But I don't know whether it will affect efficiency. You can comment out these lines and use the function Write. If you keep these lines, you can use WriteDirectly.
Here, I offer an example of the usage of this library. I read a file with a custom format of IMU data and write an IMR file.
inertial-navigation provides a nice struct of IMR.