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

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| align="left style="background:#e0e0e0;" | Description
 
| align="left style="background:#e0e0e0;" | Description
 
|-
 
|-
−
| align="left" | NSENSOR
+
| align="left" | NSENSORS
 
| align="left" | UINT16
 
| align="left" | UINT16
 
| align="left" | Number of sensors
 
| align="left" | Number of sensors
 
|-
 
|-
−
| align="left" | FORMAT
+
| colspan=3 align="left" |FORMAT 0
−
| align="left" | UINT16
 
−
| align="left" |
 
−
Bit  1: Name flag<br/>
 
−
Bit  8: Position flag              (m)<br/>
 
−
Bit  9: Velocity flag              (m/s)<br/>
 
−
Bit 10: Acceleration flag          (m/s^2)<br/>
 
−
Bit 11: Force flag                (N)<br/>
 
−
Bit 12: Angle flag                (Rad)<br/>
 
−
Bit 13: Angular velocity flag     (Rad/s)<br/>
 
−
Bit 14: Angular acceleration flag    (Rad/s^2)<br/>
 
−
Bit 15: Torque flag         (N*m)<br/>
 
−
|-
 
−
| colspan=3 align="left" |SENSOR1
 
−
|-
 
−
| align="left" | (NAME)
 
−
| align="left" | UINT8[20]
 
−
| align="left" | Sensor name
 
−
|-
 
−
| align="left" | (POSITION)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Position (m)
 
−
|-
 
−
| align="left" | (VEL)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Velocity (m/s)
 
−
|-
 
−
| align="left" | (ACCEL)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" |  Acceleration (m/s^2)
 
−
|-
 
−
| align="left" | (FORCE)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Force (N)
 
−
|-
 
−
| align="left" | (ANG)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Angle (rad)
 
 
|-
 
|-
−
| align="left" | (ANGVEL)
+
| align="left" | LARRAY 0
−
| align="left" | FLOAT32[3]
+
| align="left" | UINT8
−
| align="left" | Angular velocity (rad/s)
+
| align="left" | Length of array (0-255)
 
|-
 
|-
−
| align="left" | (ANGVEL)
+
| align="left" | SIPREFIX 0
−
| align="left" | FLOAT32[3]
+
| align="left" | INT8
−
| align="left" | Angular accelearation (rad/s^2)
+
| align="left" | SI-prefix (-127 - 128) (see bellow)
 
|-
 
|-
−
| align="left" | (TORQUE)
+
| align="left" | DIMENSION 0
−
| align="left" | FLOAT32[3]
+
| align="left" | UINT8[6]
−
| align="left" | Torque (N*m)
+
| align="left" | Dimension (see bellow)
 
|-
 
|-
−
| colspan=3 align="center" style="background:#f0f0f0;" | ...
+
| colspan=3 align="left" |...
 
|-
 
|-
−
| colspan=3 align="left" |SENSOR_N
+
| colspan=3 align="left" |FORMAT (NSENSORS-1)
 
|-
 
|-
−
| align="left" | (NAME)
+
| align="left" | LARRAY (NSENSORS-1)
−
| align="left" | UINT8[20]
+
| align="left" | UINT8
−
| align="left" | Sensor name
+
| align="left" | Length of array (0-255)
 
|-
 
|-
−
| align="left" | (POSITION)
+
| align="left" | SIPREFIX (NSENSORS-1)
−
| align="left" | FLOAT32[3]
+
| align="left" | INT8
−
| align="left" | Position (m)
+
| align="left" | SI-prefix (-127 - 128) (see bellow)
 
|-
 
|-
−
| align="left" | (VEL)
+
| align="left" | DIMENSION (NSENSORS-1)
−
| align="left" | FLOAT32[3]
+
| align="left" | UINT8[6]
−
| align="left" | Velocity (m/s)
+
| align="left" | Dimension (see bellow)
 
|-
 
|-
−
| align="left" | (ACCEL)
+
| colspan=3 align="left" |DATA
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Acceleration (m/s^2)
 
 
|-
 
|-
−
| align="left" | (FORCE)
+
| align="left" | DATA 0
−
| align="left" | FLOAT32[3]
+
| align="left" | float64[LARRAY 0]
−
| align="left" | Force (N)
+
| align="left" | value array for sensor 0
 
|-
 
|-
−
| align="left" | (ANG)
+
| align="left" | DATA 1
−
| align="left" | FLOAT32[3]
+
| align="left" | float64[LARRAY 1]
−
| align="left" | Angle (rad)
+
| align="left" | value array for sensor 1
 
|-
 
|-
−
| align="left" | (ANGVEL)
+
| colspan=3 align="left" |...
−
| align="left" | FLOAT32[3]
 
−
| align="left" | Angular velocity (rad/s)
 
 
|-
 
|-
−
| align="left" | (ANGVEL)
+
| align="left" | DATA (NSENSORS-1)
−
| align="left" | FLOAT32[3]
+
| align="left" | float64[LARRAY 1]
−
| align="left" | Angular accelearation (rad/s^2)
+
| align="left" | value array for sensor 1
 
|-
 
|-
−
| align="left" | (TORQUE)
 
−
| align="left" | FLOAT32[3]
 
−
| align="left" |  Torque (N*m)
 
 
|}
 
|}
  

Revision as of 21:21, 8 November 2010

Home < OpenIGTLink < ProtocolV2 < Type < SensorData

<< Version 2 Draft Page

Summary

SDATA 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
NSENSORS UINT16 Number of sensors
FORMAT 0
LARRAY 0 UINT8 Length of array (0-255)
SIPREFIX 0 INT8 SI-prefix (-127 - 128) (see bellow)
DIMENSION 0 UINT8[6] Dimension (see bellow)
...
FORMAT (NSENSORS-1)
LARRAY (NSENSORS-1) UINT8 Length of array (0-255)
SIPREFIX (NSENSORS-1) INT8 SI-prefix (-127 - 128) (see bellow)
DIMENSION (NSENSORS-1) UINT8[6] Dimension (see bellow)
DATA
DATA 0 float64[LARRAY 0] value array for sensor 0
DATA 1 float64[LARRAY 1] value array for sensor 1
...
DATA (NSENSORS-1) float64[LARRAY 1] value array for sensor 1

GET_TDATA

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

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