Visual Servoing Platform  version 3.4.1 under development (2021-12-05)
vpForceTorqueIitSensor.h
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30  *
31  * Description:
32  * Wrapper over IIT force-torque sensor.
33  *
34  * Authors:
35  * Fabien Spindler
36  * Alexander Oliva
37  *
38  *****************************************************************************/
39 
45 #ifndef vpForceTorqueIitSensor_h
46 #define vpForceTorqueIitSensor_h
47 
48 #include <visp3/core/vpConfig.h>
49 
50 #ifdef VISP_HAVE_FT_IIT_SDK
51 
52 #include <chrono>
53 #include <mutex>
54 
55 #include <visp3/core/vpColVector.h>
56 
57 #include <ftSensorLib/ftSensorLib.h>
58 
146 class VISP_EXPORT vpForceTorqueIitSensor
147 {
148 public:
151 
152  void bias();
153  bool connected(int timeout_ms = 0) const;
154  vpColVector getForceTorque(bool filtered = false);
155 
156  void startStreaming();
157  void stopStreaming();
158 
159 protected:
160  void acquisitionLoop();
161  void close();
162  void join();
163 
164 protected:
165  ftSensorLib m_ftLib;
167 
170 
171  ftSensorsConnected m_ftSensorsData{};
172 
173  std::atomic<bool> m_acquisitionEnabled;
174  std::atomic<bool> m_dataValid;
176 
177  std::thread m_acquisitionThread;
178  std::chrono::time_point<std::chrono::system_clock> m_timeCur, m_timePrev;
179 
180  std::mutex m_mutex;
182 };
183 
184 #endif
185 #endif
std::atomic< bool > m_acquisitionEnabled
std::atomic< bool > m_dataValid
std::chrono::time_point< std::chrono::system_clock > m_timePrev
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130