OpenIGTLink/ProtocolV2/Type/SensorData

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Summary

SDATA 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
NSENSORS UINT16 Number of sensors
FORMAT 0
LARRAY 0 UINT8 Length of array (0-255)
PREFIX 0 INT8 SI-prefix (-127 - 128) (see bellow)
DIMENSION 0 UINT8[6] Dimension (see bellow)
...
FORMAT (NSENSORS-1)
LARRAY (NSENSORS-1) UINT8 Length of array (0-255)
PREFIX (NSENSORS-1) INT8 SI-prefix (-127 - 128) (see bellow)
DIMENSION (NSENSORS-1) UINT8[6] Dimension (see bellow)
DATA
DATA 0 float64[LARRAY 0] value array for sensor 0
DATA 1 float64[LARRAY 1] value array for sensor 1
...
DATA (NSENSORS-1) float64[LARRAY (NSENSORS-1)] value array for sensor (NSENSORS-1)

Definition of PREFIX and DIMENSION fields

The PREFIX and DIMENSION fields are used to specify units. The PREFIX fields is an exponent representing SI prefix (e.g. milli, micro, nano, kilo, ...), while DIMENSIONS is combination of SI base units and/or SI-delived units.

  • PREFIX
Value SI-prefix
0x18 yotta (1e24)
0x15 zetta (1e21)
0x12 exa (1e18)
0x0F peta (1e15)
0x0C tera (1e12)
0x09 giga (1e9)
0x06 mega (1e6)
0x03 kilo (1e3)
0x02 hecto (1e2)
0x01 deka (deca) (1e1)
0x00 None
0xFF deci (1e-1)
0xFE centi (1e-2)
0xFD milli (1e-3)
0xFA micro (1e-6)
0XF7 nano (1e-9)
0XF4 pico (1e-12)
0XF1 femto (1e-15)
0XEE atto (1e-18)
0XEB zepto (1e-21)
0XE8 yocto (1e-24)

GET_SENSOR

Data Type Description


STT_SENSOR

N/A

STP_SENSOR

N/A


RTS_SENSOR

N/A

Implementations

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

Contributors

Junichi Tokuda, Yuichiro Hayashi

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