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
RESOL	uint64	Minimum interval between message (ns). Same format as TimeStamp
LARRAY	uint8	Length of array (0-255)
Reserved	uint8	---
UNIT	uint64	See 64-bit UNIT field.

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