Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
vpForceTorqueIitSensor.h
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30  *
31  * Description:
32  * Wrapper over IIT force-torque sensor.
33  *
34  * Authors:
35  * Fabien Spindler
36  * Alexander Oliva
37  *
38  *****************************************************************************/
39 
45 #ifndef vpForceTorqueIitSensor_h
46 #define vpForceTorqueIitSensor_h
47 
48 #include <visp3/core/vpConfig.h>
49 
50 #ifdef VISP_HAVE_FT_IIT_SDK
51 
52 #include <chrono>
53 #include <mutex>
54 
55 #include <visp3/core/vpColVector.h>
56 
57 #include <ftSensorLib/ftSensorLib.h>
58 
142 class VISP_EXPORT vpForceTorqueIitSensor
143 {
144 public:
147 
148  void bias();
149  bool connected(int timeout_ms = 0) const;
150  vpColVector getForceTorque();
151 
152  void startStreaming();
153  void stopStreaming();
154 
155 protected:
156  void acquisitionLoop();
157  void close();
158  void join();
159 
160 protected:
161  ftSensorLib m_ftLib;
163 
165 
166  ftSensorsConnected m_ftSensorsData{};
167 
168  std::atomic<bool> m_acquisitionEnabled;
169  std::atomic<bool> m_dataValid;
171 
172  std::thread m_acquisitionThread;
173  std::chrono::time_point<std::chrono::system_clock> m_timeCur, m_timePrev;
174 
175  std::mutex m_mutex;
177 };
178 
179 #endif
180 #endif
std::atomic< bool > m_acquisitionEnabled
std::atomic< bool > m_dataValid
std::chrono::time_point< std::chrono::system_clock > m_timePrev
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130