#include <vpForceTorqueAtiNetFTSensor.h>

Inheritance diagram for vpForceTorqueAtiNetFTSensor:

Public Member Functions
	vpForceTorqueAtiNetFTSensor ()

	vpForceTorqueAtiNetFTSensor (const std::string &hostname, int port)

virtual	~vpForceTorqueAtiNetFTSensor ()

void	bias (unsigned int n_counts=50)

unsigned long	getCountsPerForce () const

unsigned long	getCountsPerTorque () const

unsigned long	getDataCounter () const

unsigned long	getScalingFactor () const

vpColVector	getForceTorque () const

void	setCountsPerForce (unsigned long counts)

void	setCountsPerTorque (unsigned long counts)

void	setScalingFactor (unsigned long scaling_factor)

bool	startStreaming ()

void	stopStreaming ()

void	unbias ()

bool	waitForNewData (unsigned int timeout=50)

Inherited functionalities from vpUDPClient
void	init (const std::string &hostname, int port)

int	receive (std::string &msg, int timeoutMs=0)

int	receive (void *msg, size_t len, int timeoutMs=0)

int	send (const std::string &msg)

int	send (const void *msg, size_t len)

Protected Attributes
unsigned long	m_counts_per_force

unsigned long	m_counts_per_torque

unsigned long	m_scaling_factor

vpColVector	m_ft_bias

unsigned long	m_data_count

unsigned long	m_data_count_prev

vpColVector	m_ft

bool	m_is_streaming_started

bool	m_is_init

Detailed Description

Interface for ATI force/torque sensor using Net F/T over UDP.

The Network Force/Torque (Net F/T) sensor system measures six components of force and torque (Fx, Fy, Fz, Tx, Ty, Tz). The Net F/T provides an EtherNet/IP communication interface and is compatible with standard Ethernet. The Net F/T system is available with any of ATI transducer models. The Net F/T's web browser interface allows for easy configuration and set up via the Ethernet connection present on all NetBox models.

This class was tested with ATI Nano 43 F/T sensor connected to a NetBox. To use this class, you don't need to install any specific third-party.

To use this class, connect an Ethernet cable to the NetBox. The default IP address of the Net F/T is: 192.168.1.1. The default Ethernet port is 49152. You can use your favorite web browser on http://192.168.1.1 to modify Net F/T sensor settings and select sensor calibration configuration.

The following example shows how to use this class to get F/T measurements.

#include <iostream>
#include <visp3/sensor/vpForceTorqueAtiNetFTSensor.h>
int main(int argc, char **argv)
{
  vpForceTorqueAtiNetFTSensor ati_net_ft("192.168.1.1", 49152);
  ati_net_ft.startStreaming();
  ati_net_ft.bias();
  while (1) {
    double t = vpTime::measureTimeMs();
    if (ati_net_ft.waitForNewData()) {
      vpColVector ft = ati_net_ft.getForceTorque();
      std::cout << "F/T: " << ft.t() << std::endl;
    }
    std::cout << "Loop time: " << vpTime::measureTimeMs() - t << " ms" << std::endl;
  }
}

It produces the following output:

F/T: -0.00150018  0.0030764  -0.00791356  -8.22294e-06  4.18799e-05  1.078288e-05
Loop time: 0.03393554688 ms
...

where 3 first values are forces Fx, Fy, Fz in N and the 3 last are torques Tx, Ty, Tz in Nm.

Examples:: testForceTorqueAtiNetFTSensor.cpp.

Definition at line 106 of file vpForceTorqueAtiNetFTSensor.h.

Constructor & Destructor Documentation

vpForceTorqueAtiNetFTSensor::vpForceTorqueAtiNetFTSensor ( )

Default constructor that set counts per force to 1000000, counts per torque to 1000000000 and scaling factor to 1. Note that counts per force, counts per torque and scaling factor are used to transform force / torque in user units (N and Nm). These default values could be changed using setCountsPerForce(), setCountsPerTorque() and setScalingFactor().

Definition at line 66 of file vpForceTorqueAtiNetFTSensor.cpp.

vpForceTorqueAtiNetFTSensor::vpForceTorqueAtiNetFTSensor	(	const std::string &	hostname,
		int	port
	)

Constructor that initializes an Eternet UDP connection to a given hostname and port.

Parameters

hostname	: Device hostname or IP address.
port	: Ethernet port.

Definition at line 77 of file vpForceTorqueAtiNetFTSensor.cpp.

vpForceTorqueAtiNetFTSensor::~vpForceTorqueAtiNetFTSensor ( )

virtual

Destructor that stops Net F/T streaming and closes the Ethernet connection with the device.

See also: stopStreaming()

Definition at line 152 of file vpForceTorqueAtiNetFTSensor.cpp.

References m_is_streaming_started, and stopStreaming().

Member Function Documentation

void vpForceTorqueAtiNetFTSensor::bias ( unsigned int n_counts = 50 )

Bias F/T sensor. Bias value is a mean over a given number of counts.

Warning: This function is blocking. Between 2 successive counts we wait for 5 ms.

Parameters

n_counts : Number of counts used to bias.

See also: unbias()

Examples:: testForceTorqueAtiNetFTSensor.cpp.

Definition at line 166 of file vpForceTorqueAtiNetFTSensor.cpp.

References getForceTorque(), m_ft_bias, vpUDPClient::m_is_init, m_is_streaming_started, vpException::notInitialized, and waitForNewData().

unsigned long vpForceTorqueAtiNetFTSensor::getCountsPerForce ( ) const

inline

Returns: Counts per force used to tranform measured data in N.

See also: getCountsPerTorque(), getForceTorque()

Definition at line 118 of file vpForceTorqueAtiNetFTSensor.h.

unsigned long vpForceTorqueAtiNetFTSensor::getCountsPerTorque ( ) const

inline

Returns: Counts per torque used to tranform measured data in Nm.

See also: getCountsPerForce(), getForceTorque()

Definition at line 123 of file vpForceTorqueAtiNetFTSensor.h.

unsigned long vpForceTorqueAtiNetFTSensor::getDataCounter ( ) const

inline

Returns: Data counter. Each call to waitForNewData() will increment data counter when a new data is received.

Definition at line 127 of file vpForceTorqueAtiNetFTSensor.h.

vpColVector vpForceTorqueAtiNetFTSensor::getForceTorque ( ) const

Return force / torque measurements in user units, respectively N and Nm.

To obtain the force and torque values in user units (N and Nm), each received force value is internally multiplied by the scaling factor and divided by the counts per force and each received torque value is internally multiplied by the scaling factor and divided by the counts per torque.

Returns: A 6-dim vector that contains the 3 forces and 3 torques [Fx, Fy, Fz, Tx, Ty, Tz] with forces in N and torques in Nm.

Examples:: testForceTorqueAtiNetFTSensor.cpp.

Definition at line 207 of file vpForceTorqueAtiNetFTSensor.cpp.

References m_data_count, m_data_count_prev, m_ft, vpUDPClient::m_is_init, m_is_streaming_started, and vpException::notInitialized.

Referenced by bias().

unsigned long vpForceTorqueAtiNetFTSensor::getScalingFactor ( ) const

inline

Returns: Scaling factor to transform measured data in user units (N and Nm).

See also: getCountsPerForce(), getCountsPerTorque(), getForceTorque()

Definition at line 132 of file vpForceTorqueAtiNetFTSensor.h.

void vpUDPClient::init	(	const std::string &	hostname,
		int	port
	)

inherited

Initialize a (IPv4) UDP client.

Parameters

hostname	: Server hostname or IP address.
port	: Server port number.

Examples:: testForceTorqueAtiNetFTSensor.cpp.

Definition at line 116 of file vpUDPClient.cpp.

References vpException::fatalError, and vpUDPClient::m_is_init.

Referenced by vpUDPClient::vpUDPClient().

int vpUDPClient::receive	(	std::string &	msg,
		int	timeoutMs = `0`
	)

inherited

Receive data sent by the server.

Parameters

msg	: ASCII message or byte data.
timeoutMs	: Timeout in millisecond (if zero, the call is blocking).

Returns: The message length / size of the byte array sent received, or -1 if there is an error, or 0 if there is a timeout.

Note: To transform the ASCII representation of an integer:
int val = atoi(msg.c_str());
//or
std::istringstream ss(msg);
ss >> val;
To convert from a byte array to an integer:
int val = *reinterpret_cast<const int *>(msg.c_str());

Examples:: testUDPClient.cpp.

Definition at line 193 of file vpUDPClient.cpp.

References vpUDPClient::m_is_init, and vpException::notInitialized.

Referenced by waitForNewData().

int vpUDPClient::receive	(	void *	msg,
		size_t	len,
		int	timeoutMs = `0`
	)

inherited

Receive data sent by the server.

Parameters

msg	: A message to send over the network.
len	: Message length.
timeoutMs	: Timeout in millisecond (if zero, the call is blocking).

Returns: The message length / size of the byte array sent received, or -1 if there is an error, or 0 if there is a timeout.

Definition at line 239 of file vpUDPClient.cpp.

References vpUDPClient::m_is_init, and vpException::notInitialized.

int vpUDPClient::send ( const std::string & msg )

inherited

Send data to the server.

Parameters

msg	: ASCII message or byte data.

Returns: The message length / size of the byte array sent.

Note: To send the ASCII representation of an integer:
int val = 1024;
std::ostringstream os;
os << val;
server.send(os.str(), hostname, port);
To send directly the byte data (assuming the same integer representation on the server and the client):
int val = 1024;
char data[sizeof(val)];
memcpy(data, &val, sizeof(val));
std::string msg(data, sizeof(val)); //required to avoid the string being splitted with the first \0 character
server.send(msg, hostname, port);