OpenIGTLink/ProtocolV2/Type/SensorData
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Summary
SENSOR 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 |
LARRAY | uint8 | Length of array (0-255) |
STATUS | uint8 | Sensor status (Reserved) |
UNIT | uint64 | See 64-bit UNIT field. |
DATA | float64[LARRAY] | value array for sensor 0 |
Examples
Sending 3-axis troque
A device with 3-axis torque (N*m) sensor is sending data to a data logger program. The following table shows example data format to send 3-axis torque:
Data | Type | Value |
LARRAY | uint8 | 3 |
STATUS | uint8 | 0 |
UNIT | uint64 | 00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000 |
DATA | double[3] | {0.0, 0.0, 0.0} |
Sending 3-axis force, troque and acceleration
By binding SENSOR data using BIND type, values from multiple types of sensors can be transferred simultaneously. See BIND message description page for detail.
GET_SENSOR
Data | Type | Description |
STT_SENSOR
Data | Type | Description |
LARRAY | uint8 | Length of array (0-255) |
STATUS | uint8 | Sensor status (Reserved) |
UNIT | uint64 | See 64-bit UNIT field. |
RESOL | uint32 | Minimum interval between message (us) |
STP_SENSOR
Data | Type | Description |
RTS_SENSOR
N/A
Implementations
The TDATA message type is implemented in the following source code.
Contributors
Junichi Tokuda, Yuichiro Hayashi