Visual Servoing Platform version 3.6.0
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vpForceTorqueIitSensor.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Wrapper over IIT force-torque sensor.
33 *
34 * Authors:
35 * Alexander Oliva
36 *
37*****************************************************************************/
38
44#ifndef vpForceTorqueIitSensor_h
45#define vpForceTorqueIitSensor_h
46
47#include <visp3/core/vpConfig.h>
48
49#ifdef VISP_HAVE_FT_IIT_SDK
50
51#include <chrono>
52#include <mutex>
53
54#include <visp3/core/vpColVector.h>
55
56#include <ftSensorLib/ftSensorLib.h>
57
146class VISP_EXPORT vpForceTorqueIitSensor
147{
148public:
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
159protected:
160 void acquisitionLoop();
161 void close();
162 void join();
163
164protected:
165 ftSensorLib m_ftLib;
167
170
171 ftSensorsConnected m_ftSensorsData{};
172
173 std::atomic<bool> m_acquisitionEnabled;
174 std::atomic<bool> m_dataValid;
176
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
Implementation of column vector and the associated operations.
std::atomic< bool > m_dataValid
std::chrono::time_point< std::chrono::system_clock > m_timeCur
std::atomic< bool > m_acquisitionEnabled