Difference between revisions of "OpenIGTLink/ProtocolV2/Type/SensorData"
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Revision as of 12:22, 16 July 2010
Home < OpenIGTLink < ProtocolV2 < Type < SensorDataContents
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
SDATA
| 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 |
| (ARB1) | FLOAT32 | Arbitrary value 1 |
| (ARB2) | FLOAT32 | Arbitrary value 2 |
| (ARB3) | FLOAT32 | Arbitrary value 3 |
| (ARB4) | FLOAT32 | Arbitrary value 4 |
| (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
