|
Robotics Library
0.6.2
|
Go to the documentation of this file.
27 #ifndef _RL_HAL_ATI_H_
28 #define _RL_HAL_ATI_H_
31 #include <atidaq/ftconfig.h>
44 Ati(const ::std::string&
calFilePath,
const unsigned short int&
index = 0, const ::std::string& filename =
"/dev/comedi0");
52 ::std::string
getAxisName(const ::std::size_t& i)
const;
102 #endif // _RL_HAL_ATI_H_
Definition: SixAxisForceTorqueSensor.h:40
void start()
Definition: Ati.cpp:188
void step()
Definition: Ati.cpp:193
void open()
Definition: Ati.cpp:174
Calibration * cal
Definition: Ati.h:85
Ati(const ::std::string &calFilePath, const unsigned short int &index=0, const ::std::string &filename="/dev/comedi0")
Definition: Ati.cpp:38
::rl::math::Real getForcesMinimum(const ::std::size_t &i) const
Definition: Ati.cpp:112
float values[6]
Definition: Ati.h:95
::std::string calFilePath
The name and path of the calibration file.
Definition: Ati.h:88
::rl::math::Real getForcesTorquesMinimum(const ::std::size_t &i) const
Definition: Ati.cpp:139
void getTorques(::rl::math::Vector &torques) const
Definition: Ati.cpp:147
::rl::math::Real getTorquesMinimum(const ::std::size_t &i) const
Definition: Ati.cpp:166
void getForces(::rl::math::Vector &forces) const
Definition: Ati.cpp:93
::std::string getAxisName(const ::std::size_t &i) const
Definition: Ati.cpp:85
virtual ~Ati()
Definition: Ati.cpp:61
float voltages[6]
Definition: Ati.h:97
::rl::math::Real getForcesMaximum(const ::std::size_t &i) const
Definition: Ati.cpp:104
unsigned short int index
The number of the calibration within the file (usually 1).
Definition: Ati.h:93
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:41
void close()
Definition: Ati.cpp:78
void resetBias()
Definition: Ati.cpp:181
void stop()
Definition: Ati.cpp:204
Comedi * comedi
Definition: Ati.h:90
::rl::math::Real getForcesTorquesMaximum(const ::std::size_t &i) const
Definition: Ati.cpp:131
double Real
Definition: Real.h:34
void getForcesTorques(::rl::math::Vector &forcesTorques) const
Definition: Ati.cpp:120
::rl::math::Real getTorquesMaximum(const ::std::size_t &i) const
Definition: Ati.cpp:158
void bias()
Definition: Ati.cpp:72