Robotics Library
0.6.2
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#include <Jr3.h>
Public Member Functions | |
Jr3 (const ::std::string &filename="/dev/comedi0") | |
virtual | ~Jr3 () |
void | bias () |
void | close () |
void | getForces (::rl::math::Vector &forces) const |
::rl::math::Real | getForcesMaximum (const ::std::size_t &i) const |
::rl::math::Real | getForcesMinimum (const ::std::size_t &i) const |
void | getForcesTorques (::rl::math::Vector &forcesTorques) const |
::rl::math::Real | getForcesTorquesMaximum (const ::std::size_t &i) const |
::rl::math::Real | getForcesTorquesMinimum (const ::std::size_t &i) const |
void | getTorques (::rl::math::Vector &torques) const |
::rl::math::Real | getTorquesMaximum (const ::std::size_t &i) const |
::rl::math::Real | getTorquesMinimum (const ::std::size_t &i) const |
void | open () |
void | resetBias () |
void | start () |
void | step () |
void | stop () |
Public Member Functions inherited from rl::hal::SixAxisForceTorqueSensor | |
SixAxisForceTorqueSensor () | |
virtual | ~SixAxisForceTorqueSensor () |
::std::size_t | getForcesCount () const |
::rl::math::Real | getForcesMaximum (const ::std::size_t &i) const |
::rl::math::Real | getForcesMinimum (const ::std::size_t &i) const |
::std::size_t | getTorquesCount () const |
::rl::math::Real | getTorquesMaximum (const ::std::size_t &i) const |
::rl::math::Real | getTorquesMinimum (const ::std::size_t &i) const |
Public Member Functions inherited from rl::hal::ForceSensor | |
ForceSensor () | |
virtual | ~ForceSensor () |
Public Member Functions inherited from rl::hal::Device | |
Device () | |
virtual | ~Device () |
bool | isConnected () const |
bool | isRunning () const |
Public Member Functions inherited from rl::hal::TorqueSensor | |
TorqueSensor () | |
virtual | ~TorqueSensor () |
Private Attributes | |
Comedi * | comedi |
float | values [6] |
float | zeroes [6] |
Additional Inherited Members | |
Protected Member Functions inherited from rl::hal::Device | |
void | setConnected (const bool &connected) |
void | setRunning (const bool &running) |
rl::hal::Jr3::Jr3 | ( | const ::std::string & | filename = "/dev/comedi0" | ) |
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virtual |
void rl::hal::Jr3::bias | ( | ) |
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Implements rl::hal::Device.
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virtual |
forces | [N] |
Implements rl::hal::ForceSensor.
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virtual |
Implements rl::hal::ForceSensor.
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virtual |
Implements rl::hal::ForceSensor.
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virtual |
forcesTorques | [N],[N],[N],[Nm],[Nm],[Nm] |
Implements rl::hal::SixAxisForceTorqueSensor.
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virtual |
Implements rl::hal::SixAxisForceTorqueSensor.
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virtual |
Implements rl::hal::SixAxisForceTorqueSensor.
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virtual |
torques | [Nm] |
Implements rl::hal::TorqueSensor.
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virtual |
Implements rl::hal::TorqueSensor.
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virtual |
Implements rl::hal::TorqueSensor.
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virtual |
Implements rl::hal::Device.
void rl::hal::Jr3::resetBias | ( | ) |
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virtual |
Implements rl::hal::Device.
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virtual |
Implements rl::hal::Device.
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virtual |
Implements rl::hal::Device.
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private |
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private |
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private |