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Robotics Library
0.6.2
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27 #ifndef _RL_HAL_JR3_H_
28 #define _RL_HAL_JR3_H_
43 Jr3(const ::std::string& filename =
"/dev/comedi0");
91 #endif // _RL_HAL_JR3_H_
Definition: SixAxisForceTorqueSensor.h:40
void getForces(::rl::math::Vector &forces) const
Definition: Jr3.cpp:73
virtual ~Jr3()
Definition: Jr3.cpp:51
void resetBias()
Definition: Jr3.cpp:161
::rl::math::Real getTorquesMaximum(const ::std::size_t &i) const
Definition: Jr3.cpp:138
void step()
Definition: Jr3.cpp:175
::rl::math::Real getForcesMinimum(const ::std::size_t &i) const
Definition: Jr3.cpp:92
Jr3(const ::std::string &filename="/dev/comedi0")
Definition: Jr3.cpp:38
void close()
Definition: Jr3.cpp:66
void open()
Definition: Jr3.cpp:154
::rl::math::Real getForcesTorquesMaximum(const ::std::size_t &i) const
Definition: Jr3.cpp:111
float zeroes[6]
Definition: Jr3.h:86
void getForcesTorques(::rl::math::Vector &forcesTorques) const
Definition: Jr3.cpp:100
void getTorques(::rl::math::Vector &torques) const
Definition: Jr3.cpp:127
void bias()
Definition: Jr3.cpp:57
::rl::math::Real getForcesTorquesMinimum(const ::std::size_t &i) const
Definition: Jr3.cpp:119
float values[6]
Definition: Jr3.h:84
::rl::math::Real getForcesMaximum(const ::std::size_t &i) const
Definition: Jr3.cpp:84
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:41
::rl::math::Real getTorquesMinimum(const ::std::size_t &i) const
Definition: Jr3.cpp:146
void stop()
Definition: Jr3.cpp:184
double Real
Definition: Real.h:34
Comedi * comedi
Definition: Jr3.h:82
void start()
Definition: Jr3.cpp:170