39 #ifndef _vpReflexTakktile2_h_ 40 #define _vpReflexTakktile2_h_ 42 #include <visp3/core/vpConfig.h> 43 #ifdef VISP_HAVE_TAKKTILE2 48 #include <visp3/core/vpColVector.h> 92 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os,
const HandInfo &hand);
100 void disableTorque();
104 int getNumFingers()
const;
105 int getNumSensorsPerFinger()
const;
106 int getNumServos()
const;
130 void setNetworkInterface(
const std::string &network_interface =
"eth0") { m_network_interface = network_interface; }
140 void setTactileThreshold(
int threshold);
141 void setTactileThreshold(
const std::vector<int> &thresholds);
143 void setPositioningVelocity(
const vpColVector &targets);
144 void setVelocityUntilAnyContact(
const vpColVector &targets);
145 void setVelocityUntilEachContact(
const vpColVector &targets);
147 void wait(
int milliseconds);
std::string m_network_interface
std::string m_tactile_file_name
std::vector< float > raw_angle
void setMotorConfigFile(const std::string &motor_file_name)
std::vector< std::string > error_state
std::vector< float > distal_approx
std::vector< float > voltage
void setNetworkInterface(const std::string &network_interface="eth0")
std::string m_finger_file_name
Implementation of column vector and the associated operations.
void setFingerConfigFile(const std::string &finger_file_name)
std::vector< float > velocity
std::vector< std::vector< bool > > contact
std::string m_motor_file_name
std::vector< std::vector< int > > pressure
std::vector< float > proximal
void setTactileConfigFile(const std::string &tactile_file_name)
std::vector< uint32_t > temperature
std::vector< float > joint_angle
std::vector< float > load