OpenIGTLink/ProtocolV2/Type/QTransform

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Home < OpenIGTLink < ProtocolV2 < Type < QTransform

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Summary

The QTRANS data type is used to transfer position and orientation information. The data are a combination of 3-dimensional vector for the position and quaternion for the orientation. Although equivalent position and orientation can be described with the TRANSFORM data type, the QTRANS data type has the advantage of smaller data size (19%). It is therefore more suitable for pushing high frame-rate data from tracking devices.

Message Types

TRANSFORM

Data Type Description
X 32-bit float X position
Y 32-bit float Y position
Z 32-bit float Z position
OX 32-bit float X element in quaternion
OY 32-bit float Y element in quaternion
OZ 32-bit float Z element in quaternion
W 32-bit float W element in quaternion


GET_QTRANS

Data Type Description

STT_QTRANS

Data Type Description

STP_QTRANS

Data Type Description

RTS_QTRANS

Data Type Description
Status 8 bit unsigned 0: Success 1: Error

Implementations

QTRANS type is implemented in the following files:

Contributors

This message was originally proposed in version 1 as POSITION.

Comments