Difference between revisions of "OpenIGTLink/ProtocolV2/Type/KinematicsData"
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=Message Types= | =Message Types= |
Latest revision as of 06:01, 14 July 2010
Home < OpenIGTLink < ProtocolV2 < Type < KinematicsDataContents
Summary
KINEMAT is a message type, which is used to transfer 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control.
Message Types
KINEMAT
Data | Type | Description |
NSENSOR | UINT16 | Number of sensors |
FORMAT | UINT16 |
Bit 1: Name flag |
SENSOR1 | ||
(NAME) | UINT8[20] | Sensor name |
(POSITION) | FLOAT32[3] | Position (m) |
(VEL) | FLOAT32[3] | Velocity (m/s) |
(ACCEL) | FLOAT32[3] | Acceleration (m/s^2) |
(FORCE) | FLOAT32[3] | Force (N) |
(ANG) | FLOAT32[3] | Angle (rad) |
(ANGVEL) | FLOAT32[3] | Angular velocity (rad/s) |
(ANGVEL) | FLOAT32[3] | Angular accelearation (rad/s^2) |
(TORQUE) | FLOAT32[3] | Torque (N*m) |
... | ||
SENSOR_N | ||
(NAME) | UINT8[20] | Sensor name |
(POSITION) | FLOAT32[3] | Position (m) |
(VEL) | FLOAT32[3] | Velocity (m/s) |
(ACCEL) | FLOAT32[3] | Acceleration (m/s^2) |
(FORCE) | FLOAT32[3] | Force (N) |
(ANG) | FLOAT32[3] | Angle (rad) |
(ANGVEL) | FLOAT32[3] | Angular velocity (rad/s) |
(ANGVEL) | FLOAT32[3] | Angular accelearation (rad/s^2) |
(TORQUE) | FLOAT32[3] | Torque (N*m) |
GET_TDATA
Data | Type | Description |
STT_TDATA
Data | Type | Description |
STP_TDATA
Data | Type | Description |
RTS_TDATA
Implementations
The TDATA message type is implemented in the following source code.
Contributors
Junichi Tokuda, Yuichiro Hayashi