#include <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)
{
  vpForceTorqueAtiSensor ati;
  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;
    vpTime::wait(10);
  }
  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 ( )

Unbias the sensor.

See also: bias()

Examples:: testForceTorqueAti.cpp.

Definition at line 97 of file vpForceTorqueAtiSensor.cpp.

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

Referenced by vpRobotViper850::unbiasForceTorqueSensor().

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()
{
  vpForceTorqueAtiSensor ati;
  ati.setCalibrationFile("FT12345.cal");
  std::cout << "ATI F/T sensor characteristics: \n" << ati << std::endl;
}

Definition at line 238 of file vpForceTorqueAtiSensor.cpp.