vpReflexTakktile2 Class Reference

#include <visp3/robot/vpReflexTakktile2.h>

Classes
class	HandInfo

Public Member Functions
	vpReflexTakktile2 ()
virtual	~vpReflexTakktile2 ()
void	calibrate ()
void	disableTorque ()
HandInfo	getHandInfo ()
int	getNumFingers () const
int	getNumSensorsPerFinger () const
int	getNumServos () const
vpColVector	getPosition () const
vpColVector	getVelocity () const
void	open ()
void	setFingerConfigFile (const std::string &finger_file_name)
void	setMotorConfigFile (const std::string &motor_file_name)
void	setNetworkInterface (const std::string &network_interface="eth0")
void	setPosition (const vpColVector &targets)
void	setTactileConfigFile (const std::string &tactile_file_name)
void	setTactileThreshold (int threshold)
void	setTactileThreshold (const std::vector< int > &thresholds)
void	setPositioningVelocity (const vpColVector &targets)
void	setVelocityUntilAnyContact (const vpColVector &targets)
void	setVelocityUntilEachContact (const vpColVector &targets)
void	wait (int milliseconds)

Protected Attributes
std::string	m_network_interface
std::string	m_finger_file_name
std::string	m_tactile_file_name
std::string	m_motor_file_name
HandInfo	m_hand_info

Detailed Description

Right Hand Robotics Reflex Takktile 2 hand controller.

See https://www.labs.righthandrobotics.com/docs for more details.

This class was tested with the Reflex Takktile2 hand.

To communicate by Ethernet with the hand we recommend to setup computer network with a static configuration:

IP: 10.1.1.10
Gateway: 254.0.0.0

Examples:

takktile2-control.cpp, and takktile2-read-data.cpp.

Definition at line 69 of file vpReflexTakktile2.h.

Constructor & Destructor Documentation

vpReflexTakktile2()

vpReflexTakktile2::vpReflexTakktile2

(

)

Default constructor.

Definition at line 123 of file vpReflexTakktile2.cpp.

~vpReflexTakktile2()

vpReflexTakktile2::~vpReflexTakktile2 ( )

virtual

Destructor.

Definition at line 132 of file vpReflexTakktile2.cpp.

Member Function Documentation

calibrate()

void vpReflexTakktile2::calibrate

(

)

Calibrates the tactile sensors and fingers.

Examples:

takktile2-control.cpp.

Definition at line 137 of file vpReflexTakktile2.cpp.

disableTorque()

void vpReflexTakktile2::disableTorque

(

)

Puts the dynamixels motors into idle mode.

Examples:

takktile2-control.cpp.

Definition at line 142 of file vpReflexTakktile2.cpp.

getHandInfo()

vpReflexTakktile2::HandInfo vpReflexTakktile2::getHandInfo

(

)

Returns hand info data.

Examples:

takktile2-read-data.cpp.

Definition at line 147 of file vpReflexTakktile2.cpp.

References vpReflexTakktile2::HandInfo::contact, vpReflexTakktile2::HandInfo::distal_approx, vpReflexTakktile2::HandInfo::error_state, vpReflexTakktile2::HandInfo::joint_angle, vpReflexTakktile2::HandInfo::load, m_hand_info, vpReflexTakktile2::HandInfo::pressure, vpReflexTakktile2::HandInfo::proximal, vpReflexTakktile2::HandInfo::raw_angle, vpReflexTakktile2::HandInfo::temperature, vpReflexTakktile2::HandInfo::velocity, and vpReflexTakktile2::HandInfo::voltage.

getNumFingers()

int vpReflexTakktile2::getNumFingers

(

)

const

Returns

Number of fingers.

Definition at line 178 of file vpReflexTakktile2.cpp.

getNumSensorsPerFinger()

int vpReflexTakktile2::getNumSensorsPerFinger

(

)

const

Returns

Number of sensors per finger.

Definition at line 183 of file vpReflexTakktile2.cpp.

getNumServos()

int vpReflexTakktile2::getNumServos

(

)

const

Returns

Number of servos.

Definition at line 173 of file vpReflexTakktile2.cpp.

getPosition()

vpColVector vpReflexTakktile2::getPosition

(

)

const

Returns

4-dim vector corresponding to the position in [rad] of finger 1, 2 and 3 and preshape respectively.

Definition at line 189 of file vpReflexTakktile2.cpp.

getVelocity()

vpColVector vpReflexTakktile2::getVelocity

(

)

const

Returns

4-dim vector corresponding to the velocity in [rad/s] of finger 1, 2 and 3 and preshape respectively.

Definition at line 202 of file vpReflexTakktile2.cpp.

open()

void vpReflexTakktile2::open

(

)

Open Ethernet connection to Reflex Takktile 2 hand.

Examples:

takktile2-control.cpp, and takktile2-read-data.cpp.

Definition at line 319 of file vpReflexTakktile2.cpp.

References m_finger_file_name, m_motor_file_name, m_network_interface, and m_tactile_file_name.

setFingerConfigFile()

void vpReflexTakktile2::setFingerConfigFile ( const std::string &  finger_file_name )

inline

Set yaml file used to calibrate fingers.

Parameters

finger_file_name

: Finger calibration file.

Examples:

takktile2-control.cpp, and takktile2-read-data.cpp.

Definition at line 117 of file vpReflexTakktile2.h.

setMotorConfigFile()

void vpReflexTakktile2::setMotorConfigFile ( const std::string &  motor_file_name )

inline

Set yaml file used to define motor constants.

Parameters

motor_file_name

: Motor constant file.

Examples:

takktile2-control.cpp, and takktile2-read-data.cpp.

Definition at line 123 of file vpReflexTakktile2.h.

setNetworkInterface()

void vpReflexTakktile2::setNetworkInterface ( const std::string &  network_interface = "eth0" )

inline

Set network interface name.

Parameters

network_interface

: Network interface name used to communicate with the Right Hand. Use ifconfig command to know the name of this interface.

Examples:

takktile2-control.cpp, and takktile2-read-data.cpp.

Definition at line 130 of file vpReflexTakktile2.h.

setPosition()

void vpReflexTakktile2::setPosition

(

const vpColVector &

targets

)

Set hand position. This function commands the motors from radians, using the zero references from yaml/finger_calibrate.yaml file to translate into the raw Dynamixel values.

Parameters

targets

: 4-dim vector with angular positions in [rad] for finger 1, 2, 3 and preshape respectively.

See also

setPositioningVelocity()

Examples:

takktile2-control.cpp.

Definition at line 219 of file vpReflexTakktile2.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

setPositioningVelocity()

void vpReflexTakktile2::setPositioningVelocity

(

const vpColVector &

targets

)

Changes the positioning speed of the motor.

Parameters

targets

: 4-dim vector with angular velocities in [rad/s] for finger 1, 2, 3 and preshape respectively.

See also

setPosition()

Examples:

takktile2-control.cpp.

Definition at line 267 of file vpReflexTakktile2.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

setTactileConfigFile()

void vpReflexTakktile2::setTactileConfigFile ( const std::string &  tactile_file_name )

inline

Set yaml file used to calibrate tactile sensors.

Parameters

tactile_file_name

: Tactile calibration file.

Examples:

takktile2-control.cpp, and takktile2-read-data.cpp.

Definition at line 138 of file vpReflexTakktile2.h.

setTactileThreshold() [1/2]

void vpReflexTakktile2::setTactileThreshold

(

int

threshold

)

Sets the same tactile threshold level to all tactile sensors for reporting contact.

Parameters

threshold

: Value between 0 and 1000.

See also

setTactileThreshold(std::vector<int> &)

Examples:

takktile2-control.cpp.

Definition at line 238 of file vpReflexTakktile2.cpp.

setTactileThreshold() [2/2]

void vpReflexTakktile2::setTactileThreshold

(

const std::vector< int > &

thresholds

)

Sets the threshold level to each tactile sensor for reporting contact.

Parameters

thresholds

: This vector is of dim the number of fingers multiplied by the number of tactile sensors per finger. Values are between 0 and 1000.

See also

setTactileThreshold(int)

Definition at line 247 of file vpReflexTakktile2.cpp.

References vpException::dimensionError.

setVelocityUntilAnyContact()

void vpReflexTakktile2::setVelocityUntilAnyContact

(

const vpColVector &

targets

)

Moves the fingers in until any of them makes contact with an object.

Parameters

targets

: 4-dim vector with angular velocities in [rad/s] for finger 1, 2, 3 and preshape respectively.

Examples:

takktile2-control.cpp.

Definition at line 285 of file vpReflexTakktile2.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

setVelocityUntilEachContact()

void vpReflexTakktile2::setVelocityUntilEachContact

(

const vpColVector &

targets

)

Moves the fingers in until each finger makes contact with an object.

Parameters

targets

: 4-dim vector with angular velocities in [rad/s] for finger 1, 2, 3 and preshape respectively.

Examples:

takktile2-control.cpp.

Definition at line 303 of file vpReflexTakktile2.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

wait()

void vpReflexTakktile2::wait

(

int

milliseconds

)

Tries to communicate with the Reflex Hand object.

Parameters

milliseconds

: Duration in [ms].

Examples:

takktile2-control.cpp, and takktile2-read-data.cpp.

Definition at line 330 of file vpReflexTakktile2.cpp.

Member Data Documentation

m_finger_file_name

std::string vpReflexTakktile2::m_finger_file_name

protected

Definition at line 151 of file vpReflexTakktile2.h.

Referenced by open().

m_hand_info

HandInfo vpReflexTakktile2::m_hand_info

protected

Definition at line 154 of file vpReflexTakktile2.h.

Referenced by getHandInfo().

m_motor_file_name

std::string vpReflexTakktile2::m_motor_file_name

protected

Definition at line 153 of file vpReflexTakktile2.h.

Referenced by open().

m_network_interface

std::string vpReflexTakktile2::m_network_interface

protected

Definition at line 150 of file vpReflexTakktile2.h.

Referenced by open().

m_tactile_file_name

std::string vpReflexTakktile2::m_tactile_file_name

protected

Definition at line 152 of file vpReflexTakktile2.h.

Referenced by open().