Visual Servoing Platform
version 3.6.0
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vpForceTorqueIitSensor.h
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/****************************************************************************
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*
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* ViSP, open source Visual Servoing Platform software.
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* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact Inria about acquiring a ViSP Professional
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* Edition License.
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*
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* See https://visp.inria.fr for more information.
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*
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* This software was developed at:
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* Inria Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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*
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* If you have questions regarding the use of this file, please contact
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* Inria at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Description:
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* Wrapper over IIT force-torque sensor.
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*
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* Authors:
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* Alexander Oliva
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*
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*****************************************************************************/
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#ifndef vpForceTorqueIitSensor_h
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#define vpForceTorqueIitSensor_h
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#include <visp3/core/vpConfig.h>
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#ifdef VISP_HAVE_FT_IIT_SDK
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#include <chrono>
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#include <mutex>
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#include <visp3/core/vpColVector.h>
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#include <ftSensorLib/ftSensorLib.h>
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class
VISP_EXPORT
vpForceTorqueIitSensor
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{
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public
:
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vpForceTorqueIitSensor
();
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~vpForceTorqueIitSensor
();
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void
bias();
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bool
connected(
int
timeout_ms = 0)
const
;
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vpColVector
getForceTorque(
bool
filtered =
false
);
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void
startStreaming();
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void
stopStreaming();
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protected
:
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void
acquisitionLoop();
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void
close();
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void
join();
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protected
:
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ftSensorLib
m_ftLib
;
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int
m_numSensorsInLib
;
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vpColVector
m_ft
;
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vpColVector
m_ft_filt
;
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ftSensorsConnected m_ftSensorsData{};
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std::atomic<bool>
m_acquisitionEnabled
;
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std::atomic<bool>
m_dataValid
;
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bool
m_connected
;
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std::thread
m_acquisitionThread
;
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std::chrono::time_point<std::chrono::system_clock>
m_timeCur
, m_timePrev;
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std::mutex
m_mutex
;
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int
m_warmupMilliseconds
;
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};
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#endif
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#endif
vpColVector
Implementation of column vector and the associated operations.
Definition
vpColVector.h:167
vpForceTorqueIitSensor
Definition
vpForceTorqueIitSensor.h:147
vpForceTorqueIitSensor::m_connected
bool m_connected
Definition
vpForceTorqueIitSensor.h:175
vpForceTorqueIitSensor::m_ft
vpColVector m_ft
Definition
vpForceTorqueIitSensor.h:168
vpForceTorqueIitSensor::m_numSensorsInLib
int m_numSensorsInLib
Definition
vpForceTorqueIitSensor.h:166
vpForceTorqueIitSensor::m_dataValid
std::atomic< bool > m_dataValid
Definition
vpForceTorqueIitSensor.h:174
vpForceTorqueIitSensor::m_ftLib
ftSensorLib m_ftLib
Definition
vpForceTorqueIitSensor.h:165
vpForceTorqueIitSensor::m_warmupMilliseconds
int m_warmupMilliseconds
Definition
vpForceTorqueIitSensor.h:181
vpForceTorqueIitSensor::m_timeCur
std::chrono::time_point< std::chrono::system_clock > m_timeCur
Definition
vpForceTorqueIitSensor.h:178
vpForceTorqueIitSensor::m_acquisitionThread
std::thread m_acquisitionThread
Definition
vpForceTorqueIitSensor.h:177
vpForceTorqueIitSensor::m_ft_filt
vpColVector m_ft_filt
Definition
vpForceTorqueIitSensor.h:169
vpForceTorqueIitSensor::m_mutex
std::mutex m_mutex
Definition
vpForceTorqueIitSensor.h:180
vpForceTorqueIitSensor::m_acquisitionEnabled
std::atomic< bool > m_acquisitionEnabled
Definition
vpForceTorqueIitSensor.h:173
modules
sensor
include
visp3
sensor
vpForceTorqueIitSensor.h
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