Art Flystick3, Руководство пользователя системы, Страница: 261 / 275

Appendix
B
B.2 Output of Measurement Data via Ethernet
[id st er][
s
x
s
y
s
z
][
b
0
b
1
b
2
b
3
b
4
b
5
b
6
b
7
b
8
]
They contain:
1. ID number (
id
, starting with 0 ), status of the tracking (
st
, 0 : not tracked, 1 :
inertial tracking, 2 : optical tracking, 3 : inertial and optical tracking), current drift
error estimation (
er
, unit: [deg], estimate rising by
10
degree per minute when
tracking inertially)
2. Position ( s
i
) and
3. Rotation matrix (
b
i
) of the Body’s orientation.
All numbers are separated by spaces (hex
20
). Nine values b
0
. . . b
8
form the rotation
matrix R :
R =


b
0
b
3
b
6
b
1
b
4
b
7
b
2
b
5
b
8


To avoid problems with different definitions of the angles, we recommend to only use
rotation matrices.
Example (one line):
6di 2 [0 1 2.135][326.848 -187.216 109.503][-0.940508 -0.339238
-0.019025 0.333599 -0.932599 0.137735 -0.064467 0.123194 0.990286] [1 0
0.000][0.000 0.000 0.000][0.000000 0.000000 0.000000 0.000000 0.000000
0.000000 0.000000 0.000000 0.000000]
B.2.5 Flysticks
Identifier
6df2
.
Z
Note: this format version replaces the older
6df
format (see B.2.6). Use
it whenever possible.
The newer format for Flysticks is quite similar to the format of standard 6DOF bodies. It
provides tracking data for all Flysticks and other
ART radio devices (see B.1.5):
•
The first number after the identifier
6df2
gives the number of defined (i.e. calibrated)
Flysticks.
•
The second number gives the number of Flystick data, that are following in the line.
•
The data of each Flystick show up in blocks (four consecutive
[]
), like:
[id qu nbt nct][
s
x
s
y
s
z
][
b
0
b
1
b
2
b
3
b
4
b
5
b
6
b
7
b
8
][
bt
0
...
ct
0
ct
1
...]
The four blocks contain:
261