Visual Servoing Platform  version 3.5.1 under development (2022-08-09)
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 
147 class VISP_EXPORT vpForceTorqueIitSensor
148 {
149 public:
152 
153  void bias();
154  bool connected(int timeout_ms = 0) const;
155  vpColVector getForceTorque(bool filtered = false);
156 
157  void startStreaming();
158  void stopStreaming();
159 
160 protected:
161  void acquisitionLoop();
162  void close();
163  void join();
164 
165 protected:
166  ftSensorLib m_ftLib;
168 
171 
172  ftSensorsConnected m_ftSensorsData{};
173 
174  std::atomic<bool> m_acquisitionEnabled;
175  std::atomic<bool> m_dataValid;
177 
178  std::thread m_acquisitionThread;
179  std::chrono::time_point<std::chrono::system_clock> m_timeCur, m_timePrev;
180 
181  std::mutex m_mutex;
183 };
184 
185 #endif
186 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
std::atomic< bool > m_dataValid
std::chrono::time_point< std::chrono::system_clock > m_timeCur
std::atomic< bool > m_acquisitionEnabled