Difference between revisions of "OpenIGTLink/ProtocolV2/Type/SensorData"
From NAMIC Wiki
| Line 78: | Line 78: | ||
{| border="1" cellpadding="5" cellspacing="0" align="center" | {| border="1" cellpadding="5" cellspacing="0" align="center" | ||
|- | |- | ||
| − | | align="left style="background:#e0e0e0;" | Data | + | | align="left" style="background:#e0e0e0;" | Data |
| − | | align="left style="background:#e0e0e0;" | Type | + | | align="left" style="background:#e0e0e0;" | Type |
| − | | align="left style="background:#e0e0e0;" | Description | + | | align="left" style="background:#e0e0e0;" | Description |
|- | |- | ||
| align="left" | LARRAY | | align="left" | LARRAY | ||
| align="left" | uint8 | | align="left" | uint8 | ||
| − | | align="left" | | + | | align="left" | Length of array (0-255) |
|- | |- | ||
| − | | align="left" | | + | | align="left" | STATUS |
| align="left" | uint8 | | align="left" | uint8 | ||
| − | | align="left" | | + | | align="left" | Sensor status (Reserved) |
|- | |- | ||
| align="left" | UNIT | | align="left" | UNIT | ||
| align="left" | uint64 | | align="left" | uint64 | ||
| − | | align="left" | | + | | align="left" | See [[OpenIGTLink/ProtocolV2/Unit| 64-bit UNIT field]]. |
|- | |- | ||
| align="left" | RESOL | | align="left" | RESOL | ||
| − | | align="left" | | + | | align="left" | uint32 |
| − | | align="left" | Minimum | + | | align="left" | Minimum interval between message (us) |
|- | |- | ||
|} | |} | ||
Revision as of 03:05, 30 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) |
| STATUS | uint8 | Sensor status (Reserved) |
| UNIT | uint64 | See 64-bit UNIT field. |
| DATA | float64[LARRAY] | value array for sensor 0 |
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 |
| STATUS | uint8 | 0 |
| 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
| Data | Type | Description |
| LARRAY | uint8 | Length of array (0-255) |
| STATUS | uint8 | Sensor status (Reserved) |
| UNIT | uint64 | See 64-bit UNIT field. |
| RESOL | uint32 | Minimum interval between message (us) |
STP_SENSOR
| Data | Type | Description |
RTS_SENSOR
N/A
Implementations
The TDATA message type is implemented in the following source code.
Contributors
Junichi Tokuda, Yuichiro Hayashi
