Updated to include gyro and accelerometer, and Rotation3d offset.

swervelib/imu/SwerveIMU.java

@@ -1,5 +1,9 @@
 package swervelib.imu;
 
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import java.util.Optional;
+
 /**
  * Swerve IMU abstraction to define a standard interface with a swerve drive.
  */
@@ -30,6 +34,21 @@ public abstract class SwerveIMU
    */
   public abstract void getYawPitchRoll(double[] yprArray);
 
+  /**
+   * Fetch the {@link Rotation3d} from the IMU. Robot relative.
+   *
+   * @return {@link Rotation3d} from the IMU.
+   */
+  public abstract Rotation3d getRotation3d();
+
+  /**
+   * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
+   * empty.
+   *
+   * @return {@link Translation3d} of the acceleration as an {@link Optional}.
+   */
+  public abstract Optional<Translation3d> getAccel();
+
   /**
    * Get the instantiated IMU object.
    *