OpenIGTLink/ProtocolV2/Type/KinematicsData

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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

Data Type Description


STT_TDATA

Data Type Description

STP_TDATA

Data Type Description

RTS_TDATA

Implementations

The TDATA message type is implemented in the following source code.

Contributors

Junichi Tokuda, Yuichiro Hayashi

Comments