45 #ifndef vpForceTorqueIitSensor_h
46 #define vpForceTorqueIitSensor_h
48 #include <visp3/core/vpConfig.h>
50 #ifdef VISP_HAVE_FT_IIT_SDK
55 #include <visp3/core/vpColVector.h>
57 #include <ftSensorLib/ftSensorLib.h>
154 bool connected(
int timeout_ms = 0)
const;
157 void startStreaming();
158 void stopStreaming();
161 void acquisitionLoop();
172 ftSensorsConnected m_ftSensorsData{};
179 std::chrono::time_point<std::chrono::system_clock>
m_timeCur, m_timePrev;
Implementation of column vector and the associated operations.
std::atomic< bool > m_dataValid
std::chrono::time_point< std::chrono::system_clock > m_timeCur
std::thread m_acquisitionThread
std::atomic< bool > m_acquisitionEnabled