rl::hal::WeissKms40 Class Reference

Weiss Robotics Force-Torque Sensor KMS 40. More...

#include <WeissKms40.h>

Inheritance diagram for rl::hal::WeissKms40:

Public Types
enum	SystemState {   SYSTEM_STATE_SCRIPT_FAILURE = 1073741824, SYSTEM_STATE_CMD_FAILURE = 536870912, SYSTEM_STATE_POWER_FAULT = 268435456, SYSTEM_STATE_TEMP_FAULT = 134217728,   SYSTEM_STATE_CALIBRATION_FAULT = 67108864, SYSTEM_STATE_OVERRUN_MZ = 33554432, SYSTEM_STATE_OVERRUN_MY = 16777216, SYSTEM_STATE_OVERRUN_MX = 8388608,   SYSTEM_STATE_OVERRUN_FZ = 4194304, SYSTEM_STATE_OVERRUN_FY = 2097152, SYSTEM_STATE_OVERRUN_FX = 1048576, SYSTEM_STATE_TEMP_WARNING = 2048,   SYSTEM_STATE_CALIBRATION_EXPIRED = 1024, SYSTEM_STATE_SCRIPT_RUNNING = 32, SYSTEM_STATE_DAQ_RUNNING = 16, SYSTEM_STATE_FILTER_ENABLED = 8,   SYSTEM_STATE_TARA = 4, SYSTEM_STATE_STABLE = 2, SYSTEM_STATE_CALIBRATION_VALID = 1 }

Public Member Functions
	WeissKms40 (const ::std::string &address="192.168.1.30", const unsigned short int &port=1000, const ::std::size_t &filter=0, const ::std::size_t &divider=1)
virtual	~WeissKms40 ()
void	close ()
::rl::math::Vector	doAcquireSingleFrame ()
::std::pair< ::std::chrono::system_clock::time_point, ::std::chrono::system_clock::duration >	doGetCalibrationDateLifetime ()
::rl::math::Matrix	doGetCalibrationMatrix ()
::boost::dynamic_bitset	doGetDataAcquisitionMask ()
::std::string	doGetDescriptorString ()
::std::size_t	doGetFilter ()
::std::string	doGetFirmwareVersion ()
::std::size_t	doGetFrameSendDivider ()
::std::size_t	doGetSerialNumber ()
SystemState	doGetSystemFlags ()
::std::string	doGetSystemType ()
bool	doGetTare ()
float	doGetTemperature ()
::std::size_t	doGetVerboseLevel ()
::std::vector< ::std::string >	doPrintVariable (const ::std::vector< ::std::string > &variables)
::boost::dynamic_bitset	doSetDataAcquisitionMask (const ::boost::dynamic_bitset<> &mask)
::std::string	doSetDescriptorString (const ::std::string &value)
::std::size_t	doSetFilter (const ::std::size_t &value)
::std::size_t	doSetFrameSendDivider (const ::std::size_t &value)
bool	doSetTare (const bool &doOn)
::std::size_t	doSetVerboseLevel (const ::std::size_t &level)
void	doStartContinuousDataAcquisition ()
void	doStopContinuousDataAcquisition ()
::rl::math::Vector	getForces () 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
void	open ()
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 Member Functions
::std::string	recv (const ::std::string &command)

Private Attributes
::std::size_t	divider
::std::size_t	filter
::rl::math::Vector	frame
Socket	socket

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

Detailed Description

Weiss Robotics Force-Torque Sensor KMS 40.

See "KMS Command Set Reference Manual": <www.weiss-robotics.de/en/download.html?cid=70&fid=37&id=164>

Member Enumeration Documentation

SystemState

enum rl::hal::WeissKms40::SystemState

Enumerator
SYSTEM_STATE_SCRIPT_FAILURE
SYSTEM_STATE_CMD_FAILURE
SYSTEM_STATE_POWER_FAULT
SYSTEM_STATE_TEMP_FAULT
SYSTEM_STATE_CALIBRATION_FAULT
SYSTEM_STATE_OVERRUN_MZ
SYSTEM_STATE_OVERRUN_MY
SYSTEM_STATE_OVERRUN_MX
SYSTEM_STATE_OVERRUN_FZ
SYSTEM_STATE_OVERRUN_FY
SYSTEM_STATE_OVERRUN_FX
SYSTEM_STATE_TEMP_WARNING
SYSTEM_STATE_CALIBRATION_EXPIRED
SYSTEM_STATE_SCRIPT_RUNNING
SYSTEM_STATE_DAQ_RUNNING
SYSTEM_STATE_FILTER_ENABLED
SYSTEM_STATE_TARA
SYSTEM_STATE_STABLE
SYSTEM_STATE_CALIBRATION_VALID

Constructor & Destructor Documentation

WeissKms40()

rl::hal::WeissKms40::WeissKms40	(	const ::std::string &	address = "192.168.1.30",
		const unsigned short int &	port = 1000,
		const ::std::size_t &	filter = 0,
		const ::std::size_t &	divider = 1
	)

Parameters

[in]	address	TCP hostname
[in]	port	TCP port
[in]	filter	Value representing the ID of the filter that should be used
[in]	divider	Value representing the frame rate divider

~WeissKms40()

rl::hal::WeissKms40::~WeissKms40 ( )

virtual

Member Function Documentation

close()

void rl::hal::WeissKms40::close ( )

virtual

Precondition

stop()

Implements rl::hal::Device.

doAcquireSingleFrame()

rl::math::Vector rl::hal::WeissKms40::doAcquireSingleFrame

(

)

doGetCalibrationDateLifetime()

std::pair<::std::chrono::system_clock::time_point,::std::chrono::system_clock::duration > rl::hal::WeissKms40::doGetCalibrationDateLifetime

(

)

doGetCalibrationMatrix()

rl::math::Matrix rl::hal::WeissKms40::doGetCalibrationMatrix

(

)

doGetDataAcquisitionMask()

boost::dynamic_bitset rl::hal::WeissKms40::doGetDataAcquisitionMask

(

)

doGetDescriptorString()

std::string rl::hal::WeissKms40::doGetDescriptorString

(

)

doGetFilter()

std::size_t rl::hal::WeissKms40::doGetFilter

(

)

doGetFirmwareVersion()

std::string rl::hal::WeissKms40::doGetFirmwareVersion

(

)

doGetFrameSendDivider()

std::size_t rl::hal::WeissKms40::doGetFrameSendDivider

(

)

doGetSerialNumber()

std::size_t rl::hal::WeissKms40::doGetSerialNumber

(

)

doGetSystemFlags()

WeissKms40::SystemState rl::hal::WeissKms40::doGetSystemFlags

(

)

doGetSystemType()

std::string rl::hal::WeissKms40::doGetSystemType

(

)

doGetTare()

bool rl::hal::WeissKms40::doGetTare

(

)

doGetTemperature()

float rl::hal::WeissKms40::doGetTemperature

(

)

Returns

[ °C ]

doGetVerboseLevel()

std::size_t rl::hal::WeissKms40::doGetVerboseLevel

(

)

doPrintVariable()

std::vector<::std::string > rl::hal::WeissKms40::doPrintVariable

(

const ::std::vector< ::std::string > &

variables

)

doSetDataAcquisitionMask()

boost::dynamic_bitset rl::hal::WeissKms40::doSetDataAcquisitionMask

(

const ::boost::dynamic_bitset<> &

mask

)

doSetDescriptorString()

std::string rl::hal::WeissKms40::doSetDescriptorString

(

const ::std::string &

value

)

doSetFilter()

std::size_t rl::hal::WeissKms40::doSetFilter

(

const ::std::size_t &

value

)

doSetFrameSendDivider()

std::size_t rl::hal::WeissKms40::doSetFrameSendDivider

(

const ::std::size_t &

value

)

doSetTare()

bool rl::hal::WeissKms40::doSetTare

(

const bool &

doOn

)

doSetVerboseLevel()

std::size_t rl::hal::WeissKms40::doSetVerboseLevel

(

const ::std::size_t &

level

)

doStartContinuousDataAcquisition()

void rl::hal::WeissKms40::doStartContinuousDataAcquisition

(

)

doStopContinuousDataAcquisition()

void rl::hal::WeissKms40::doStopContinuousDataAcquisition

(

)

getForces()

rl::math::Vector rl::hal::WeissKms40::getForces ( ) const

virtual

Parameters

[out]

forces

[N]

Implements rl::hal::ForceSensor.

getForcesTorques()

rl::math::Vector rl::hal::WeissKms40::getForcesTorques ( ) const

virtual

Parameters

[in]

forcesTorques

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

Implements rl::hal::SixAxisForceTorqueSensor.

getForcesTorquesMaximum()

rl::math::Real rl::hal::WeissKms40::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::WeissKms40::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::WeissKms40::getTorques ( ) const

virtual

Parameters

[out]

torques

[Nm]

Implements rl::hal::TorqueSensor.

open()

void rl::hal::WeissKms40::open ( )

virtual

Implements rl::hal::Device.

recv()

std::string rl::hal::WeissKms40::recv ( const ::std::string &  command )

private

start()

void rl::hal::WeissKms40::start ( )

virtual

Precondition

open()

Implements rl::hal::Device.

step()

void rl::hal::WeissKms40::step ( )

virtual

Precondition

start()

Implements rl::hal::CyclicDevice.

stop()

void rl::hal::WeissKms40::stop ( )

virtual

Precondition

open()

Implements rl::hal::Device.

Member Data Documentation

divider

::std::size_t rl::hal::WeissKms40::divider

private

filter

::std::size_t rl::hal::WeissKms40::filter

private

frame

::rl::math::Vector rl::hal::WeissKms40::frame

private

socket

Socket rl::hal::WeissKms40::socket

private

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

• rl/hal/WeissKms40.h
• rl/hal/WeissKms40.cpp