Home < OpenIGTLink < ProtocolV2 < Type < QTransform << Version 2 Draft Page
Summary
The QTRANS data type is used to transfer position and orientation information. The data are a combination of 3-dimensional vector for the position and quaternion for the orientation. Although equivalent position and orientation can be described with the TRANSFORM data type, the QTRANS data type has the advantage of smaller data size (19%). It is therefore more suitable for pushing high frame-rate data from tracking devices.
Message Types
TRANSFORM
| Data
|
Type
|
Description
|
| X
|
32-bit float
|
X position in millimeter
|
| Y
|
32-bit float
|
Y position in millimeter
|
| Z
|
32-bit float
|
Z position in millimeter
|
| OX
|
32-bit float
|
X element in quaternion
|
| OY
|
32-bit float
|
Y element in quaternion
|
| OZ
|
32-bit float
|
Z element in quaternion
|
| W
|
32-bit float
|
W element in quaternion
|
GET_QTRANS
STT_QTRANS
STP_QTRANS
RTS_QTRANS
| Data
|
Type
|
Description
|
| Status
|
8 bit unsigned
|
0: Success 1: Error
|
Implementations
QTRANS type is implemented in the following files:
Contributors
This message was originally proposed in version 1 as POSITION.
