Visual Servoing Platform  version 3.4.1 under development (2021-10-17)
vpForceTorqueAtiNetFTSensor.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
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9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
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13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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26  * Inria at visp@inria.fr
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28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * ATI Force torque interface.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 #ifndef _vpForceTorqueAtiNetFTSensor_h_
39 #define _vpForceTorqueAtiNetFTSensor_h_
40 
41 #include <visp3/core/vpConfig.h>
42 
43 #include <ostream>
44 
45 #include <visp3/core/vpColVector.h>
46 #include <visp3/core/vpUDPClient.h>
47 
48 // Make vpForceTorqueAtiNetFTSensor available only if inet_ntop() used to
49 // communicate by UDP with the sensor through vpUDPClient is available; inet_ntop()
50 // is not supported on win XP
51 #ifdef VISP_HAVE_FUNC_INET_NTOP
52 
106 class VISP_EXPORT vpForceTorqueAtiNetFTSensor : public vpUDPClient
107 {
108 public:
110  vpForceTorqueAtiNetFTSensor(const std::string &hostname, int port);
111  virtual ~vpForceTorqueAtiNetFTSensor();
112 
113  void bias(unsigned int n_counts = 50);
118  inline unsigned long getCountsPerForce() const { return m_counts_per_force; }
123  inline unsigned long getCountsPerTorque() const { return m_counts_per_torque; }
127  inline unsigned long getDataCounter() const { return m_data_count; }
132  inline unsigned long getScalingFactor() const { return m_scaling_factor; }
133  vpColVector getForceTorque() const;
139  inline void setCountsPerForce(unsigned long counts) { m_counts_per_force = counts; }
145  inline void setCountsPerTorque(unsigned long counts) { m_counts_per_torque = counts; }
151  inline void setScalingFactor(unsigned long scaling_factor) { m_scaling_factor = scaling_factor; }
152  bool startStreaming();
153  void stopStreaming();
154 
155  void unbias();
156  bool waitForNewData(unsigned int timeout = 50);
157 
158 protected:
159  unsigned long m_counts_per_force;
160  unsigned long m_counts_per_torque;
161  unsigned long m_scaling_factor;
163  unsigned long m_data_count;
164  unsigned long m_data_count_prev;
167 };
168 
169 #endif
170 #endif
void setCountsPerTorque(unsigned long counts)
void setScalingFactor(unsigned long scaling_factor)
void setCountsPerForce(unsigned long counts)
This class implements a basic (IPv4) User Datagram Protocol (UDP) client.
Definition: vpUDPClient.h:168
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130