Visual Servoing Platform  version 3.6.1 under development (2024-04-23)
vpForceTorqueAtiSensor.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * ATI Force torque interface.
32  */
33 #ifndef _vpForceTorqueAtiSensor_h_
34 #define _vpForceTorqueAtiSensor_h_
35 
36 #include <visp3/core/vpConfig.h>
37 
38 #if defined(VISP_HAVE_ATIDAQ) && defined(VISP_HAVE_COMEDI)
39 
40 #include <ostream>
41 
42 #include <visp3/core/vpColVector.h>
43 #include <visp3/sensor/vpComedi.h>
44 
84 class VISP_EXPORT vpForceTorqueAtiSensor : public vpComedi
85 {
86 public:
88  virtual ~vpForceTorqueAtiSensor() vp_override;
89 
90  void bias();
91  void close();
92 
97  std::string getCalibrationFile() const { return m_calibfile; }
98  vpColVector getForceTorque() const;
99  std::string getForceUnits() const;
100  std::string getTorqueUnits() const;
101 
102  void open();
103 
104  void setCalibrationFile(const std::string &calibfile, unsigned short index = 1);
105  void unbias();
106 
107  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpForceTorqueAtiSensor &ati);
108 
109 protected:
110  std::string m_calibfile;
111  unsigned short m_index;
112  unsigned short m_num_axes;
113  unsigned short m_num_channels;
115 };
116 
117 #endif
118 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
void open()
Definition: vpComedi.cpp:62
void close()
Definition: vpComedi.cpp:89
unsigned short m_index
Index of calibration in file (default: 1)
std::string getCalibrationFile() const
unsigned short m_num_axes
Number of axis or gages available from the sensor.
std::string m_calibfile
ATI calibration file FT*.cal.
vpColVector m_sample_bias
Sample value used for bias.
unsigned short m_num_channels
Number of channels available from the sensor.