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)
UNIT 0	uint64	See 64-bit UNIT field.
NAMELEN 0	uint8	Name length
...
FORMAT (NSENSORS-1)
LARRAY (NSENSORS-1)	int8	Length of array (0-255)
UNIT (NSENSORS-1)	int64	see 64-bit UNIT field.
NAMELEN (NSENSORS-1)	uint8	Name length
NAME Table
NAME 0	char[NAMELEN]	Name
...
NAME (NSENSORS-1)	char[NAMELEN (NSENSORS-1)]	Name
Padding*	uint8 or none	padding to align DATA with WORD
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)

In C/C++, the size of padding is determined by:

((NAMELEN0 + NAMELEN1 + ... ) % 2 == 0) ? 0 : 1

Examples

Sending 3-axis position

A device with 3-axis force (N), 3-axis torque (N*m) and 3-axis acceleration (mm/s^2) sensors is sending data to a data logger program. The names of the sensors are "FORCE", "TORQUE", and "ACCEL." The message structure may be as follows:

Data	Type	Value
NSENSORS	uint16	3
LARRAY 0	uint8	3
UNIT 0	uint64	00000010 11000000 00000000 00000000 00000000 00000000 00000000 00000000
NAMELEN0	int8	5
LARRAY 1	uint8	3
UNIT1	uint64	00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000
NAMELEN1	int8	6
LARRAY 2	uint8	3
UNIT 2	uint64	0x08 0x03 0x00 0x00 0x00 0x00 (m/s^2)
NAMELEN2	int8	5
NAME 0	char[5]	"FORCE"
NAME 1	char[6]	"TORQUE"
NAME 2	char[5]	"ACCEL"
DATA 0	double[3]	{0.0, 0.0, 0.0}
DATA 1	double[3]	{0.0, 0.0, 0.0}
DATA 2	double[3]	{0.0, 0.0, 0.0}

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