Home < OpenIGTLink < ProtocolV2 < Type < KinematicsData << Version 2 Draft Page
Summary
KINEMAT is a message type, which is used to transfer 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control.
Message Types
KINEMAT
| Data
|
Type
|
Description
|
| NSENSOR
|
UINT16
|
Number of sensors
|
| FORMAT
|
UINT16
|
Bit 1: Name flag
Bit 8: Position flag (m)
Bit 9: Velocity flag (m/s)
Bit 10: Acceleration flag (m/s^2)
Bit 11: Force flag (N)
Bit 12: Angle flag (Rad)
Bit 13: Angular velocity flag (Rad/s)
Bit 14: Angular acceleration flag (Rad/s^2)
Bit 15: Torque flag (N*m)
|
| 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
|
| (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
STT_TDATA
STP_TDATA
RTS_TDATA
Implementations
The TDATA message type is implemented in the following source code.
Contributors
Junichi Tokuda, Yuichiro Hayashi
