Difference between revisions of "OpenIGTLink/ProtocolV2/Type/SensorData"

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===Examples===
 
===Examples===
====Sending 3-axis position====
+
====Sending 3-axis troque====
A device with 3-axis force (N), 3-axis torque (N*m) and 3-axis acceleration (m/s^2) sensors is sending data to a data logger program. The names of the sensors are "FORCE", "TORQUE", and "ACCEL." The message structure may be as follows:
+
A device with 3-axis torque (N*m) sensor is sending data to a data logger program. The following table shows example data format to send 3-axis torque:
 +
 
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
|-
 
|-
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| align="left" style="background:#e0e0e0;" | Value
 
| align="left" style="background:#e0e0e0;" | Value
 
|-
 
|-
| align="left" | NSENSORS
+
| align="left" | LARRAY
| align="left" | uint16
 
| align="left" | 3
 
|-
 
| align="left" | LARRAY 0
 
| align="left" | uint8
 
| align="left" | 3
 
|-
 
| align="left" | UNIT 0
 
| align="left" | uint64
 
| align="left" | 00000010 11000000 00000000 00000000 00000000 00000000 00000000 00000000
 
|-
 
| align="left" | NAMELEN0
 
| align="left" | int8
 
| align="left" | 5
 
|-
 
| align="left" | LARRAY 1
 
 
| align="left" | uint8
 
| align="left" | uint8
 
| align="left" | 3
 
| align="left" | 3
 
|-
 
|-
| align="left" | UNIT1
+
| align="left" | UNIT
 
| align="left" | uint64
 
| align="left" | uint64
 
| align="left" | 00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000  
 
| align="left" | 00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000  
 
|-
 
|-
| align="left" | NAMELEN1
+
| align="left" | DATA
| align="left" | int8
 
| align="left" | 6
 
|-
 
| align="left" | LARRAY 2
 
| align="left" | uint8
 
| align="left" | 3
 
|-
 
| align="left" | UNIT 2
 
| align="left" | uint64
 
| align="left" | 00000000 01000000 00111101 00000000 00000000 00000000 00000000 00000000
 
|-
 
| align="left" | NAMELEN2
 
| align="left" | int8
 
| align="left" | 5
 
|-
 
| align="left" | NAME 0
 
| align="left" | char[5]
 
| align="left" | "FORCE"
 
|-
 
| align="left" | NAME 1
 
| align="left" | char[6]
 
| align="left" | "TORQUE"
 
|-
 
| align="left" | NAME 2
 
| align="left" | char[5]
 
| align="left" | "ACCEL"
 
|-
 
| align="left" | DATA 0
 
| align="left" | double[3]
 
| align="left" | {0.0, 0.0, 0.0}
 
|-
 
| align="left" | DATA 1
 
| align="left" | double[3]
 
| align="left" | {0.0, 0.0, 0.0}
 
|-
 
| align="left" | DATA 2
 
 
| align="left" | double[3]
 
| align="left" | double[3]
 
| align="left" | {0.0, 0.0, 0.0}
 
| align="left" | {0.0, 0.0, 0.0}

Revision as of 22:30, 23 November 2010

Home < OpenIGTLink < ProtocolV2 < Type < SensorData

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Summary

SENSOR is a message type, which is used to transfer sensor reading, 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control and various types of sensors.

Message Types

SENSOR

Data Type Description
LARRAY uint8 Length of array (0-255)
UNIT uint64 See 64-bit UNIT field.
DATA float64[LARRAY] value array for sensor 0

In C/C++, the size of padding is determined by:

((NAMELEN0 + NAMELEN1 + ... ) % 2 == 0) ? 0 : 1


Examples

Sending 3-axis troque

A device with 3-axis torque (N*m) sensor is sending data to a data logger program. The following table shows example data format to send 3-axis torque:

Data Type Value
LARRAY uint8 3
UNIT uint64 00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000
DATA double[3] {0.0, 0.0, 0.0}

GET_SENSOR

Data Type Description


STT_SENSOR

N/A

STP_SENSOR

N/A


RTS_SENSOR

N/A

Implementations

The TDATA message type is implemented in the following source code.

Contributors

Junichi Tokuda, Yuichiro Hayashi

Comments