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) |
| NAME 0 | char[20] | Name |
| ... | ||
| FORMAT (NSENSORS-1) | ||
| LARRAY (NSENSORS-1) | int8 | 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 | Value | SI-prefix |
| 0x01 | deka (deca) (1e1) | 0xFF | deci (1e-1) |
| 0x02 | hecto (1e2) | 0xFE | centi (1e-2) |
| 0x03 | kilo (1e3) | 0xFD | milli (1e-3) |
| 0x06 | mega (1e6) | 0xFA | micro (1e-6) |
| 0x09 | giga (1e9) | 0XF7 | nano (1e-9) |
| 0x0C | tera (1e12) | 0XF4 | pico (1e-12) |
| 0x0F | peta (1e15) | 0XF1 | femto (1e-15) |
| 0x12 | exa (1e18) | 0XEE | atto (1e-18) |
| 0x15 | zetta (1e21) | 0XEB | zepto (1e-21) |
| 0x18 | yotta (1e24) | 0XE8 | yocto (1e-24) |
| 0x00 | None | -- | -- |
- DIMENSION
SI base units
| Value | SI base unit name | Value | SI base unit name |
| 0x01 | meter | 0x05 | kelvin |
| 0x02 | gram | 0x06 | mole |
| 0x03 | second | 0x07 | candela |
| 0x04 | ampere | -- | -- |
SI derived units
| Value | Unit name | dimension | Value | Unit name | dimension |
| 0x08 | radian | meter/meter | 0x12 | ohm | meter^2-kilogram/second^3-ampere^2 |
| 0x09 | steradian | meter^2/meter^2 | 0x14 | siemens | second^3-ampere^2/meter^2-kilogram |
| 0x0A | hertz | /second | 0x15 | weber | meter^2-kilogram/second^2-ampere |
| 0x0B | newton | meter-kilogram/second^2 | 0x16 | tesla | kilogram/second^2-ampere |
| 0x0C | pascal | kilogram/meter-second^2 | 0x17 | henry | meter^2-kilogram/second^2-ampere^2 |
| 0x0D | joule | meter^2-kilogram/second^2 | 0x18 | lumen | candela-steradian |
| 0x0E | watt | meter^2-kilogram/second^3 | 0x19 | lux | candela-steradian/meter^2 |
| 0x0F | coulomb | second-ampere | 0x1A | becquerel | /second |
| 0x10 | volt | meter^2-kilogram/second^3-ampere | 0x1B | gray | meter^2/second^2 |
| 0x11 | farad | second^4-ampere^2/meter^2-kilogram | 0x1C | sievert | meter^2/second^2 |
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
