Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpForceTorqueAtiSensor.h
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3  * ViSP, open source Visual Servoing Platform software.
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20  * Inria Rennes - Bretagne Atlantique
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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 _vpForceTorqueAtiSensor_h_
39 #define _vpForceTorqueAtiSensor_h_
40 
41 #include <visp3/core/vpConfig.h>
42 
43 #if defined(VISP_HAVE_ATIDAQ) && defined(VISP_HAVE_COMEDI)
44 
45 #include <ostream>
46 
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/sensor/vpComedi.h>
49 
90 class VISP_EXPORT vpForceTorqueAtiSensor : public vpComedi
91 {
92 public:
94  virtual ~vpForceTorqueAtiSensor();
95 
96  void bias();
97  void close();
98 
103  std::string getCalibrationFile() const { return m_calibfile; }
104  vpColVector getForceTorque() const;
105  vpColVector getForceTorqueAsync() const;
106  std::string getForceUnits() const;
107  std::string getTorqueUnits() const;
108 
109  void open();
110 
111  void setCalibrationFile(const std::string &calibfile, unsigned short index = 1);
112  void unbias();
113 
114  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpForceTorqueAtiSensor &ati);
115 
116 protected:
117  std::string m_calibfile;
118  unsigned short m_index;
119  unsigned short m_num_axes;
120  unsigned short m_num_channels;
122 };
123 
124 #endif
125 #endif
void open()
Definition: vpComedi.cpp:66
unsigned short m_index
Index of calibration in file (default: 1)
std::string m_calibfile
ATI calibration file FT*.cal.
vpColVector m_sample_bias
Sample value used for bias.
std::string getCalibrationFile() const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
unsigned short m_num_axes
Number of axis or gages available from the sensor.
unsigned short m_num_channels
Number of channels available from the sensor.
void close()
Definition: vpComedi.cpp:93