OpenIGTLink/ProtocolV2/Type/KinematicsData

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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

Implementations

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

Contributors

Junichi Tokuda, Yuichiro Hayashi