Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpReflexTakktile2.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the Reflex Takktile 2 hand from Right Hand Robotics.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpReflexTakktile2_h_
40 #define _vpReflexTakktile2_h_
41 
42 #include <visp3/core/vpConfig.h>
43 #ifdef VISP_HAVE_TAKKTILE2
44 
45 #include <string>
46 #include <vector>
47 
48 #include <visp3/core/vpColVector.h>
49 
69 class VISP_EXPORT vpReflexTakktile2
70 {
71 public:
72  class HandInfo
73  {
74  public:
75  std::vector<float> proximal;
76  std::vector<float> distal_approx;
77  std::vector<std::vector<int> > pressure;
78  std::vector<std::vector<bool> > contact;
79 
80  std::vector<float> joint_angle;
81  std::vector<float> raw_angle;
82  std::vector<float> velocity;
83  std::vector<float> load;
84  std::vector<float> voltage;
85 
86  std::vector<uint32_t> temperature;
87  std::vector<std::string> error_state;
88 
89  HandInfo();
91 
92  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const HandInfo &hand);
93  };
94 
96  virtual ~vpReflexTakktile2();
97 
98  void calibrate();
99 
100  void disableTorque();
101 
102  HandInfo getHandInfo();
103 
104  int getNumFingers() const;
105  int getNumSensorsPerFinger() const;
106  int getNumServos() const;
107 
108  vpColVector getPosition() const;
109  vpColVector getVelocity() const;
110 
111  void open();
112 
117  void setFingerConfigFile(const std::string &finger_file_name) { m_finger_file_name = finger_file_name; }
118 
123  void setMotorConfigFile(const std::string &motor_file_name) { m_motor_file_name = motor_file_name; }
124 
130  void setNetworkInterface(const std::string &network_interface = "eth0") { m_network_interface = network_interface; }
131 
132  void setPosition(const vpColVector &targets);
133 
138  void setTactileConfigFile(const std::string &tactile_file_name) { m_tactile_file_name = tactile_file_name; }
139 
140  void setTactileThreshold(int threshold);
141  void setTactileThreshold(const std::vector<int> &thresholds);
142 
143  void setPositioningVelocity(const vpColVector &targets);
144  void setVelocityUntilAnyContact(const vpColVector &targets);
145  void setVelocityUntilEachContact(const vpColVector &targets);
146 
147  void wait(int milliseconds);
148 
149 protected:
150  std::string m_network_interface;
151  std::string m_finger_file_name;
152  std::string m_tactile_file_name;
153  std::string m_motor_file_name;
155 
156 private:
157  // Implementation
158  class Impl;
159  Impl *m_impl;
160 };
161 
162 #endif
163 #endif
std::string m_network_interface
std::string m_tactile_file_name
std::vector< float > raw_angle
void setMotorConfigFile(const std::string &motor_file_name)
std::vector< std::string > error_state
std::vector< float > distal_approx
std::vector< float > voltage
void setNetworkInterface(const std::string &network_interface="eth0")
std::string m_finger_file_name
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void setFingerConfigFile(const std::string &finger_file_name)
std::vector< float > velocity
std::vector< std::vector< bool > > contact
std::string m_motor_file_name
std::vector< std::vector< int > > pressure
std::vector< float > proximal
void setTactileConfigFile(const std::string &tactile_file_name)
std::vector< uint32_t > temperature
std::vector< float > joint_angle
std::vector< float > load