Visual Servoing Platform version 3.6.0
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vpForceTorqueAtiSensor.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 * ATI Force torque interface.
33 *
34*****************************************************************************/
35#ifndef _vpForceTorqueAtiSensor_h_
36#define _vpForceTorqueAtiSensor_h_
37
38#include <visp3/core/vpConfig.h>
39
40#if defined(VISP_HAVE_ATIDAQ) && defined(VISP_HAVE_COMEDI)
41
42#include <ostream>
43
44#include <visp3/core/vpColVector.h>
45#include <visp3/sensor/vpComedi.h>
46
87class VISP_EXPORT vpForceTorqueAtiSensor : public vpComedi
88{
89public:
92
93 void bias();
94 void close();
95
100 std::string getCalibrationFile() const { return m_calibfile; }
101 vpColVector getForceTorque() const;
103 std::string getForceUnits() const;
104 std::string getTorqueUnits() const;
105
106 void open();
107
108 void setCalibrationFile(const std::string &calibfile, unsigned short index = 1);
109 void unbias();
110
111 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpForceTorqueAtiSensor &ati);
112
113protected:
114 std::string m_calibfile;
115 unsigned short m_index;
116 unsigned short m_num_axes;
117 unsigned short m_num_channels;
119};
120
121#endif
122#endif
Implementation of column vector and the associated operations.
void open()
Definition vpComedi.cpp:63
void close()
Definition vpComedi.cpp:90
unsigned short m_index
Index of calibration in file (default: 1)
std::string getCalibrationFile() const
unsigned short m_num_axes
Number of axis or gages available from the sensor.
std::string m_calibfile
ATI calibration file FT*.cal.
vpColVector m_sample_bias
Sample value used for bias.
vpColVector getForceTorqueAsync() const
unsigned short m_num_channels
Number of channels available from the sensor.