OpenIGTLink/ProtocolV2/Type/SensorData
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Contents
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) |
| SIPREFIX 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) |
| SIPREFIX (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) |
GET_TDATA
| 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
