Visual Servoing Platform  version 3.2.0 under development (2018-12-09)
vpForceTorqueAtiSensor Class Reference

#include <visp3/sensor/vpForceTorqueAtiSensor.h>

+ Inheritance diagram for vpForceTorqueAtiSensor:

Public Member Functions

 vpForceTorqueAtiSensor ()
 
virtual ~vpForceTorqueAtiSensor ()
 
void bias ()
 
void close ()
 
std::string getCalibrationFile () const
 
vpColVector getForceTorque () const
 
vpColVector getForceTorqueAsync () const
 
std::string getForceUnits () const
 
std::string getTorqueUnits () const
 
void open ()
 
void setCalibrationFile (const std::string &calibfile, unsigned short index=1)
 
void unbias ()
 
Inherited functionalities from vpComedi
comedi_t * getHandler () const
 
std::vector< lsampl_t > getMaxData () const
 
unsigned int getNChannel () const
 
vpColVector getPhyData () const
 
std::string getPhyDataUnits () const
 
std::vector< comedi_range * > getRangeInfo () const
 
unsigned int getSubDevice () const
 
void setAnalogReference (const unsigned int &aref)
 
void setChannelNumbers (const unsigned int &nchannel)
 
void setDevice (const std::string &device)
 
void setRange (const unsigned int &range)
 
void setSubDevice (const unsigned int &subdevice)
 

Protected Member Functions

std::vector< lsampl_t > getRawData () const
 

Protected Attributes

std::string m_calibfile
 
unsigned short m_index
 
unsigned short m_num_axes
 
unsigned short m_num_channels
 
vpColVector m_sample_bias
 
Protected Member Functions Inherited from vpComedi
std::string m_device
 
comedi_t * m_handler
 
unsigned int m_subdevice
 
unsigned int m_range
 
unsigned int m_aref
 
unsigned int m_nchannel
 
std::vector< comedi_range * > m_range_info
 
std::vector< lsampl_t > m_maxdata
 
std::vector< unsigned int > m_chanlist
 

Friends

VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpForceTorqueAtiSensor &ati)
 

Detailed Description

Interface for ATI force/torque sensor. This class works only under linux-like OS. It requires Comedi 3rd party. Installation instructions are provided here https://visp.inria.fr/3rd_comedi.

Comedi is the linux control and measurement device interface. For more information see http://www.comedi.org.

This class was tested with ATI Gamma 65-SI FT sensor connected to a National Instrument NI DAQmx PCI-6220 board.

Synchronous F/T data acquisition is performed using getForceTorque(). The call to the function blocks until the whole acquisition has finished.

The following example shows how to get single measures from an ATI F/T device each 10 ms (100 Hz).

#include <visp3/core/vpTime.h>
#include <visp3/sensor/vpForceTorqueAtiSensor.h>
int main(int argc, char** argv)
{
ati.setCalibrationFile("FT12345.cal");
ati.open();
ati.bias();
for(unsigned int i=0; i < 20; i++) {
std::cout << "F/T: " << ati.getForceTorque().t() << std::endl;
}
ati.close();
#endif
}
Examples:
testForceTorqueAti.cpp.

Definition at line 90 of file vpForceTorqueAtiSensor.h.

Constructor & Destructor Documentation

vpForceTorqueAtiSensor::vpForceTorqueAtiSensor ( )

Default constructor.

Definition at line 53 of file vpForceTorqueAtiSensor.cpp.

vpForceTorqueAtiSensor::~vpForceTorqueAtiSensor ( )
virtual

Destructor that closes the connection to the device.

Definition at line 190 of file vpForceTorqueAtiSensor.cpp.

References close().

Member Function Documentation

void vpForceTorqueAtiSensor::bias ( )

Bias the sensor storing an unloaded measurement; this removes the effect of tooling weight.

See also
unbias()
Examples:
testForceTorqueAti.cpp.

Definition at line 73 of file vpForceTorqueAtiSensor.cpp.

References vpException::fatalError, vpComedi::getPhyData(), m_num_channels, m_sample_bias, open(), and vpArray2D< Type >::size().

Referenced by vpRobotViper850::biasForceTorqueSensor().

void vpForceTorqueAtiSensor::close ( )

Close the calibration structure opened using setCalibrationFile() and close the connection to the device.

Examples:
testForceTorqueAti.cpp.

Definition at line 124 of file vpForceTorqueAtiSensor.cpp.

References vpComedi::close().

Referenced by ~vpForceTorqueAtiSensor(), and vpRobotViper850::~vpRobotViper850().

std::string vpForceTorqueAtiSensor::getCalibrationFile ( ) const
inline

Return the calibration file location specified using setCalibrationFile().

See also
setCalibrationFile()

Definition at line 103 of file vpForceTorqueAtiSensor.h.

References vpComedi::open().

vpColVector vpForceTorqueAtiSensor::getForceTorque ( ) const

Get a 6-dimension force/torque vector from device. This function performs synchronously one single data acquisition. "Synchronous" means that the calling process blocks until the data acquisition has finished.

Returns
A sampled measure from device with forces and torques. Forces units are given by getForceUnits(), while torque units by getTorqueUnits().
Examples:
testForceTorqueAti.cpp.

Definition at line 142 of file vpForceTorqueAtiSensor.cpp.

References vpException::fatalError, vpComedi::getPhyData(), m_num_axes, m_num_channels, and vpArray2D< Type >::size().

Referenced by vpRobotViper850::getForceTorque().

vpColVector vpForceTorqueAtiSensor::getForceTorqueAsync ( ) const
std::string vpForceTorqueAtiSensor::getForceUnits ( ) const

Get force units.

Definition at line 173 of file vpForceTorqueAtiSensor.cpp.

comedi_t* vpComedi::getHandler ( ) const
inlineinherited

Get native Comedi handler.

Definition at line 119 of file vpComedi.h.

std::vector<lsampl_t> vpComedi::getMaxData ( ) const
inlineinherited

Get max data per channel. The returned vector is of dimension the number of channels.

Definition at line 122 of file vpComedi.h.

unsigned int vpComedi::getNChannel ( ) const
inlineinherited

Get number of channels.

Examples:
testComedi.cpp.

Definition at line 124 of file vpComedi.h.

vpColVector vpComedi::getPhyData ( ) const
inherited

Get physical data from device with units in Volts or mA. To know which unit is used, call getPhyDataUnits().

Examples:
testComedi.cpp.

Definition at line 136 of file vpComedi.cpp.

References vpException::fatalError, vpComedi::getRawData(), vpMath::isNaN(), vpComedi::m_handler, vpComedi::m_maxdata, vpComedi::m_nchannel, and vpComedi::m_range_info.

Referenced by bias(), getForceTorque(), and unbias().

std::string vpComedi::getPhyDataUnits ( ) const
inherited

Get units (V or mA) of the physical data acquired by getPhyData() or getPhyDataAsync().

Examples:
testComedi.cpp.

Definition at line 158 of file vpComedi.cpp.

References vpException::fatalError, vpComedi::m_handler, and vpComedi::m_range_info.

std::vector<comedi_range *> vpComedi::getRangeInfo ( ) const
inlineinherited

Get data range information per channel. The returned vector is of dimension the number of channels.

Definition at line 131 of file vpComedi.h.

std::vector< lsampl_t > vpComedi::getRawData ( ) const
protectedinherited

Get raw data from device. If you selected an analog input subdevice, the output is an unsigned number, for example between 0 and 65535 for a 16 bit analog input, with 0 representing the lowest voltage of the ADC, and a hardware-dependent maximum value representing the highest voltage.

Definition at line 108 of file vpComedi.cpp.

References vpException::fatalError, vpComedi::m_aref, vpComedi::m_device, vpComedi::m_handler, vpComedi::m_nchannel, vpComedi::m_range, and vpComedi::m_subdevice.

Referenced by vpComedi::getPhyData().

unsigned int vpComedi::getSubDevice ( ) const
inlineinherited

Get comedi subdevice.

Definition at line 133 of file vpComedi.h.

std::string vpForceTorqueAtiSensor::getTorqueUnits ( ) const

Get torque units.

Definition at line 181 of file vpForceTorqueAtiSensor.cpp.

void vpForceTorqueAtiSensor::open ( )

Open the connection to the device.

See also
close()
Examples:
testForceTorqueAti.cpp.

Definition at line 62 of file vpForceTorqueAtiSensor.cpp.

References m_num_channels, vpComedi::open(), and vpComedi::setChannelNumbers().

Referenced by bias(), vpRobotViper850::init(), and unbias().

void vpComedi::setAnalogReference ( const unsigned int &  aref)
inlineinherited

Set analog reference type.

Parameters
aref: The aref parameter specifies an analog reference to use: AREF_GROUND, AREF_COMMON, AREF_DIFF, or AREF_OTHER.

Definition at line 142 of file vpComedi.h.

void vpForceTorqueAtiSensor::setCalibrationFile ( const std::string &  calibfile,
unsigned short  index = 1 
)

Open ATI calibration file that should correspond to your F/T sensor.

Parameters
calibfile: ATI calibration file. This file has the following pattern: FT*.cal.
index: Index of calibration in file (default = 1).
See also
getCalibrationFile(), close()
Examples:
testForceTorqueAti.cpp.

Definition at line 198 of file vpForceTorqueAtiSensor.cpp.

References vpException::fatalError, m_calibfile, m_index, m_num_axes, and m_num_channels.

Referenced by vpRobotViper850::init().

void vpComedi::setChannelNumbers ( const unsigned int &  nchannel)
inlineinherited

Number of channels to read from sensor. For a 6-dim force/torque sensor use 6.

Examples:
testComedi.cpp.

Definition at line 148 of file vpComedi.h.

Referenced by open().

void vpComedi::setDevice ( const std::string &  device)
inlineinherited

Set comedi device name. Default value is /dev/comedi0.

Examples:
testComedi.cpp.

Definition at line 151 of file vpComedi.h.

void vpComedi::setRange ( const unsigned int &  range)
inlineinherited

Set the range parameter that is the zero-based index of one of the gain ranges supported by the channel. This is a number from 0 to N-1 where N is the number of ranges supported by the channel.

Definition at line 158 of file vpComedi.h.

void vpComedi::setSubDevice ( const unsigned int &  subdevice)
inlineinherited

Set comedi analog input subdevice.

Definition at line 160 of file vpComedi.h.

void vpForceTorqueAtiSensor::unbias ( )

Friends And Related Function Documentation

std::ostream & operator<< ( std::ostream &  os,
const vpForceTorqueAtiSensor ati 
)
friend

Return information from calibration file.

Parameters
os: Input stream.
ati: ATI F/T sensor interface.

The following example shows how to use this method.

#include <visp3/sensor/vpForceTorqueAtiSensor.h>
int main()
{
ati.setCalibrationFile("FT12345.cal");
std::cout << "ATI F/T sensor characteristics: \n" << ati << std::endl;
}

Definition at line 238 of file vpForceTorqueAtiSensor.cpp.

Member Data Documentation

unsigned int vpComedi::m_aref
protectedinherited

Analog reference

Definition at line 173 of file vpComedi.h.

Referenced by vpComedi::getRawData(), and vpComedi::open().

std::string vpForceTorqueAtiSensor::m_calibfile
protected

ATI calibration file FT*.cal.

Definition at line 117 of file vpForceTorqueAtiSensor.h.

Referenced by setCalibrationFile().

std::vector<unsigned int> vpComedi::m_chanlist
protectedinherited

Channel list

Definition at line 177 of file vpComedi.h.

Referenced by vpComedi::open().

std::string vpComedi::m_device
protectedinherited

Comedi device name (default: /dev/comedi0)

Definition at line 169 of file vpComedi.h.

Referenced by vpComedi::getRawData(), and vpComedi::open().

comedi_t* vpComedi::m_handler
protectedinherited
unsigned short vpForceTorqueAtiSensor::m_index
protected

Index of calibration in file (default: 1)

Definition at line 118 of file vpForceTorqueAtiSensor.h.

Referenced by setCalibrationFile().

std::vector<lsampl_t> vpComedi::m_maxdata
protectedinherited

Max data value

Definition at line 176 of file vpComedi.h.

Referenced by vpComedi::getPhyData(), and vpComedi::open().

unsigned int vpComedi::m_nchannel
protectedinherited

Number of channels

Definition at line 174 of file vpComedi.h.

Referenced by vpComedi::getPhyData(), vpComedi::getRawData(), and vpComedi::open().

unsigned short vpForceTorqueAtiSensor::m_num_axes
protected

Number of axis or gages available from the sensor.

Definition at line 119 of file vpForceTorqueAtiSensor.h.

Referenced by getForceTorque(), and setCalibrationFile().

unsigned short vpForceTorqueAtiSensor::m_num_channels
protected

Number of channels available from the sensor.

Definition at line 120 of file vpForceTorqueAtiSensor.h.

Referenced by bias(), getForceTorque(), open(), setCalibrationFile(), and unbias().

unsigned int vpComedi::m_range
protectedinherited

Range of a channel

Definition at line 172 of file vpComedi.h.

Referenced by vpComedi::getRawData(), and vpComedi::open().

std::vector<comedi_range *> vpComedi::m_range_info
protectedinherited

Range information

Definition at line 175 of file vpComedi.h.

Referenced by vpComedi::getPhyData(), vpComedi::getPhyDataUnits(), and vpComedi::open().

vpColVector vpForceTorqueAtiSensor::m_sample_bias
protected

Sample value used for bias.

Definition at line 121 of file vpForceTorqueAtiSensor.h.

Referenced by bias(), and unbias().

unsigned int vpComedi::m_subdevice
protectedinherited

Input subdevice

Definition at line 171 of file vpComedi.h.

Referenced by vpComedi::getRawData(), and vpComedi::open().