OpenIGTLink/ProtocolV2/Type/SensorData

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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)
PREFIX 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)
PREFIX (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 (NSENSORS-1)]	value array for sensor (NSENSORS-1)

Definition of PREFIX and DIMENSION fields

The PREFIX and DIMENSION fields are used to specify units. The PREFIX fields is an exponent representing SI prefix (e.g. milli, micro, nano, kilo, ...), while DIMENSIONS is combination of SI base units and/or SI-delived units.

• PREFIX

Value	SI-prefix
0x18	yotta (1e24)
0x15	zetta (1e21)
0x12	exa (1e18)
0x0F	peta (1e15)
0x0C	tera (1e12)
0x09	giga (1e9)
0x06	mega (1e6)
0x03	kilo (1e3)
0x02	hecto (1e2)
0x01	deka (deca) (1e1)
0x00	None
0xFF	deci (1e-1)
0xFE	centi (1e-2)
0xFD	milli (1e-3)
0xFA	micro (1e-6)
0XF7	nano (1e-9)
0XF4	pico (1e-12)
0XF1	femto (1e-15)
0XEE	atto (1e-18)
0XEB	zepto (1e-21)
0XE8	yocto (1e-24)

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