Difference between revisions of "OpenIGTLink/ProtocolV2/Type/SensorData"
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| + | ====Sending 3-axis force, troque and acceleration==== | ||
| + | By binding SENSOR data using BIND type, values from multiple types of sensors can be transferred simultaneously. See [[OpenIGTLink/ProtocolV2/Type/Bind|BIND message description page]] for detail. | ||
==GET_SENSOR== | ==GET_SENSOR== | ||
Revision as of 22:32, 23 November 2010
Home < OpenIGTLink < ProtocolV2 < Type < SensorDataContents
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} |
Sending 3-axis force, troque and acceleration
By binding SENSOR data using BIND type, values from multiple types of sensors can be transferred simultaneously. See BIND message description page for detail.
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
