Tokuda: /* Summary */

2010-07-14T06:01:36Z

Summary

Tokuda: Created page with ' << Version 2 Draft Page =Summary= KINEMAT is a message type, which is used to transfer sensor reading, 3-axis position, velocity, accele…'

2010-07-14T06:00:48Z

Created page with ' << Version 2 Draft Page =Summary= KINEMAT is a message type, which is used to transfer sensor reading, 3-axis position, velocity, accele…'

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[[OpenIGTLink/ProtocolV2/Draft | << Version 2 Draft Page]]

=Summary=
KINEMAT 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=
==KINEMAT==

{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style="background:#e0e0e0;" | Data
| align="left style="background:#e0e0e0;" | Type
| align="left style="background:#e0e0e0;" | Description
|-
| align="left" | NSENSOR
| align="left" | UINT16
| align="left" | Number of sensors
|-
| align="left" | FORMAT
| align="left" | UINT16
| align="left" |
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) 
|-
| colspan=3 align="left" |SENSOR1
|-
| align="left" | (NAME)
| align="left" | UINT8[20]
| align="left" | Sensor name
|-
| align="left" | (POSITION)
| align="left" | FLOAT32[3]
| align="left" | Position (m)
|-
| align="left" | (VEL)
| align="left" | FLOAT32[3]
| align="left" | Velocity (m/s)
|-
| align="left" | (ACCEL)
| align="left" | FLOAT32[3]
| align="left" | Acceleration (m/s^2)
|-
| align="left" | (FORCE)
| align="left" | FLOAT32[3]
| align="left" | Force (N)
|-
| align="left" | (ANG)
| align="left" | FLOAT32[3]
| align="left" | Angle (rad)
|-
| align="left" | (ANGVEL)
| align="left" | FLOAT32[3]
| align="left" | Angular velocity (rad/s)
|-
| align="left" | (ANGVEL)
| align="left" | FLOAT32[3]
| align="left" | Angular accelearation (rad/s^2)
|-
| align="left" | (TORQUE)
| align="left" | FLOAT32[3]
| align="left" | Torque (N*m)
|-
| colspan=3 align="center" style="background:#f0f0f0;" | ...
|-
| colspan=3 align="left" |SENSOR_N
|-
| align="left" | (NAME)
| align="left" | UINT8[20]
| align="left" | Sensor name
|-
| align="left" | (POSITION)
| align="left" | FLOAT32[3]
| align="left" | Position (m)
|-
| align="left" | (VEL)
| align="left" | FLOAT32[3]
| align="left" | Velocity (m/s)
|-
| align="left" | (ACCEL)
| align="left" | FLOAT32[3]
| align="left" | Acceleration (m/s^2)
|-
| align="left" | (FORCE)
| align="left" | FLOAT32[3]
| align="left" | Force (N)
|-
| align="left" | (ANG)
| align="left" | FLOAT32[3]
| align="left" | Angle (rad)
|-
| align="left" | (ANGVEL)
| align="left" | FLOAT32[3]
| align="left" | Angular velocity (rad/s)
|-
| align="left" | (ANGVEL)
| align="left" | FLOAT32[3]
| align="left" | Angular accelearation (rad/s^2)
|-
| align="left" | (TORQUE)
| align="left" | FLOAT32[3]
| align="left" | Torque (N*m)
|}

==GET_TDATA==

{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style="background:#e0e0e0;" | Data
| align="left style="background:#e0e0e0;" | Type
| align="left style="background:#e0e0e0;" | Description
|-
|}

==STT_TDATA==

{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style="background:#e0e0e0;" | Data
| align="left style="background:#e0e0e0;" | Type
| align="left style="background:#e0e0e0;" | Description
|-
|}

==STP_TDATA==

{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style="background:#e0e0e0;" | Data
| align="left style="background:#e0e0e0;" | Type
| align="left style="background:#e0e0e0;" | Description
|-
|}

==RTS_TDATA==

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


=Contributors=
Junichi Tokuda, Yuichiro Hayashi

=Comments=

@@ Line 2: / Line 2: @@
 =Summary=
-KINEMAT 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.
+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=

OpenIGTLink/ProtocolV2/Type/KinematicsData - Revision history

Tokuda: /* Summary */

Tokuda: Created page with ' << Version 2 Draft Page =Summary= KINEMAT is a message type, which is used to transfer sensor reading, 3-axis position, velocity, accele…'