rl::hal::Ati Class Reference

ATI Industrial Automation force-torque sensor. More...

#include <Ati.h>

Inheritance diagram for rl::hal::Ati:

Public Member Functions
	Ati (const ::std::string &calFilePath, const ::std::chrono::nanoseconds &updateRate=::std::chrono::milliseconds(1), const unsigned short int &index=0, const ::std::string &filename="/dev/comedi0")
virtual	~Ati ()
void	bias ()
void	close ()
::std::string	getAxisName (const ::std::size_t &i) const
::rl::math::Vector	getForces () const
::rl::math::Real	getForcesMaximum (const ::std::size_t &i) const
::rl::math::Real	getForcesMinimum (const ::std::size_t &i) const
::rl::math::Vector	getForcesTorques () const
::rl::math::Real	getForcesTorquesMaximum (const ::std::size_t &i) const
::rl::math::Real	getForcesTorquesMinimum (const ::std::size_t &i) const
::rl::math::Vector	getTorques () 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::CyclicDevice
	CyclicDevice (const ::std::chrono::nanoseconds &updateRate)
virtual	~CyclicDevice ()
virtual ::std::chrono::nanoseconds	getUpdateRate () const
Public Member Functions inherited from rl::hal::Device
	Device ()
virtual	~Device ()
bool	isConnected () const
bool	isRunning () const
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::TorqueSensor
	TorqueSensor ()
virtual	~TorqueSensor ()

Private Attributes
Calibration *	cal
::std::string	calFilePath
	The name and path of the calibration file. More...
Comedi	comedi
unsigned short int	index
	The number of the calibration within the file (usually 1). More...
float	values [6]
float	voltages [6]

Additional Inherited Members
Protected Member Functions inherited from rl::hal::Device
void	setConnected (const bool &connected)
void	setRunning (const bool &running)

Detailed Description

ATI Industrial Automation force-torque sensor.

Constructor & Destructor Documentation

Ati()

rl::hal::Ati::Ati	(	const ::std::string &	calFilePath,
		const ::std::chrono::nanoseconds &	updateRate = ::std::chrono::milliseconds(1),
		const unsigned short int &	index = 0,
		const ::std::string &	filename = "/dev/comedi0"
	)

~Ati()

rl::hal::Ati::~Ati ( )

virtual

Member Function Documentation

bias()

void rl::hal::Ati::bias

(

)

close()

void rl::hal::Ati::close ( )

virtual

Precondition

stop()

Implements rl::hal::Device.

getAxisName()

std::string rl::hal::Ati::getAxisName

(

const ::std::size_t &

i

)

const

getForces()

rl::math::Vector rl::hal::Ati::getForces ( ) const

virtual

Parameters

[out]

forces

[N]

Implements rl::hal::ForceSensor.

getForcesMaximum()

rl::math::Real rl::hal::Ati::getForcesMaximum ( const ::std::size_t &  i ) const

virtual

Returns

[N]

Implements rl::hal::ForceSensor.

getForcesMinimum()

rl::math::Real rl::hal::Ati::getForcesMinimum ( const ::std::size_t &  i ) const

virtual

Returns

[N]

Implements rl::hal::ForceSensor.

getForcesTorques()

rl::math::Vector rl::hal::Ati::getForcesTorques ( ) const

virtual

Parameters

[in]

forcesTorques

[N],[N],[N],[Nm],[Nm],[Nm]

Implements rl::hal::SixAxisForceTorqueSensor.

getForcesTorquesMaximum()

rl::math::Real rl::hal::Ati::getForcesTorquesMaximum ( const ::std::size_t &  i ) const

virtual

Returns

[N],[N],[N],[Nm],[Nm],[Nm]

Implements rl::hal::SixAxisForceTorqueSensor.

getForcesTorquesMinimum()

rl::math::Real rl::hal::Ati::getForcesTorquesMinimum ( const ::std::size_t &  i ) const

virtual

Returns

[N],[N],[N],[Nm],[Nm],[Nm]

Implements rl::hal::SixAxisForceTorqueSensor.

getTorques()

rl::math::Vector rl::hal::Ati::getTorques ( ) const

virtual

Parameters

[out]

torques

[Nm]

Implements rl::hal::TorqueSensor.

getTorquesMaximum()

rl::math::Real rl::hal::Ati::getTorquesMaximum ( const ::std::size_t &  i ) const

virtual

Returns

[Nm]

Implements rl::hal::TorqueSensor.

getTorquesMinimum()

rl::math::Real rl::hal::Ati::getTorquesMinimum ( const ::std::size_t &  i ) const

virtual

Returns

[Nm]

Implements rl::hal::TorqueSensor.

open()

void rl::hal::Ati::open ( )

virtual

Implements rl::hal::Device.

resetBias()

void rl::hal::Ati::resetBias

(

)

start()

void rl::hal::Ati::start ( )

virtual

Precondition

open()

Implements rl::hal::Device.

step()

void rl::hal::Ati::step ( )

virtual

Precondition

start()

Implements rl::hal::CyclicDevice.

stop()

void rl::hal::Ati::stop ( )

virtual

Precondition

open()

Implements rl::hal::Device.

Member Data Documentation

cal

Calibration* rl::hal::Ati::cal

private

calFilePath

::std::string rl::hal::Ati::calFilePath

private

The name and path of the calibration file.

comedi

Comedi rl::hal::Ati::comedi

private

index

unsigned short int rl::hal::Ati::index

private

The number of the calibration within the file (usually 1).

values

float rl::hal::Ati::values[6]

private

voltages

float rl::hal::Ati::voltages[6]

private

---

The documentation for this class was generated from the following files:

• rl/hal/Ati.h
• rl/hal/Ati.cpp