Home < OpenIGTLink < ProtocolV2 < Type < SensorData << Version 2 Draft Page
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
or
| Data
|
Type
|
Description
|
| LARRAY
|
uint8
|
Length of array (0-255)
|
| Reserved
|
uint8
|
---
|
| UNIT
|
uint64
|
See 64-bit UNIT field.
|
STT_SENSOR
or
| Data
|
Type
|
Description
|
| RESOL
|
uint64
|
Minimum interval between message (ns). Same format as TimeStamp
|
or
| 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
RTS_SENSOR
N/A
Implementations
The TDATA message type is implemented in the following source code.
Contributors
Junichi Tokuda, Yuichiro Hayashi
