#include <vpForceTorqueAtiSensor.h>

Inheritance diagram for vpForceTorqueAtiSensor:

Public Member Functions
	vpForceTorqueAtiSensor ()
virtual	~vpForceTorqueAtiSensor () VP_OVERRIDE
void	bias ()
void	close ()
std::string	getCalibrationFile () const
vpColVector	getForceTorque () const
std::string	getForceUnits () const
std::string	getTorqueUnits () const
void	open ()
void	setCalibrationFile (const std::string &calibfile, unsigned short index=1)
void	unbias ()

Protected Attributes
std::string	m_calibfile
unsigned short	m_index
unsigned short	m_num_axes
unsigned short	m_num_channels
vpColVector	m_sample_bias
Protected Member Functions Inherited from vpComedi
std::string	m_device
comedi_t *	m_handler
unsigned int	m_subdevice
unsigned int	m_range
unsigned int	m_aref
unsigned int	m_nchannel
std::vector< comedi_range * >	m_range_info
std::vector< lsampl_t >	m_maxdata
std::vector< unsigned int >	m_chanlist

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpForceTorqueAtiSensor &ati)

Inherited functionalities from vpComedi
comedi_t *	getHandler () const
std::vector< lsampl_t >	getMaxData () const
unsigned int	getNChannel () const
vpColVector	getPhyData () const
std::string	getPhyDataUnits () const
std::vector< comedi_range * >	getRangeInfo () const
unsigned int	getSubDevice () const
void	setAnalogReference (const unsigned int &aref)
void	setChannelNumbers (const unsigned int &nchannel)
void	setDevice (const std::string &device)
void	setRange (const unsigned int &range)
void	setSubDevice (const unsigned int &subdevice)
std::vector< lsampl_t >	getRawData () const

Detailed Description

Interface for ATI force/torque sensor. This class works only under linux-like OS. It requires Comedi 3rd party. Installation instructions are provided here https://visp.inria.fr/3rd_comedi.

Comedi is the linux control and measurement device interface. For more information see http://www.comedi.org.

This class was tested with ATI Gamma 65-SI FT sensor connected to a National Instrument NI DAQmx PCI-6220 board.

Synchronous F/T data acquisition is performed using getForceTorque(). The call to the function blocks until the whole acquisition has finished.

The following example shows how to get single measures from an ATI F/T device each 10 ms (100 Hz).

#include <visp3/core/vpTime.h>
#include <visp3/sensor/vpForceTorqueAtiSensor.h>
 
int main(int argc, char** argv)
{
  vpForceTorqueAtiSensor ati;
  ati.setCalibrationFile("FT12345.cal");
  ati.open();
  ati.bias();
  for(unsigned int i=0; i < 20; i++) {
    std::cout << "F/T: " << ati.getForceTorque().t() << std::endl;
    vpTime::wait(10);
  }
  ati.close();
#endif
}

Examples: testForceTorqueAti.cpp.

Definition at line 85 of file vpForceTorqueAtiSensor.h.

Constructor & Destructor Documentation

◆ vpForceTorqueAtiSensor()

BEGIN_VISP_NAMESPACE vpForceTorqueAtiSensor::vpForceTorqueAtiSensor ( )

Default constructor.

Definition at line 49 of file vpForceTorqueAtiSensor.cpp.

References m_calibfile, m_index, m_num_axes, m_num_channels, and m_sample_bias.

Referenced by operator<<.

◆ ~vpForceTorqueAtiSensor()

vpForceTorqueAtiSensor::~vpForceTorqueAtiSensor ( )

virtual

Destructor that closes the connection to the device.

Definition at line 185 of file vpForceTorqueAtiSensor.cpp.

References close().

Member Function Documentation

◆ bias()

void vpForceTorqueAtiSensor::bias ( )

Bias the sensor storing an unloaded measurement; this removes the effect of tooling weight.

See also: unbias()

Examples: testForceTorqueAti.cpp.

Definition at line 68 of file vpForceTorqueAtiSensor.cpp.

References vpException::fatalError, vpComedi::getPhyData(), m_num_channels, m_sample_bias, and open().

◆ close()

void vpForceTorqueAtiSensor::close ( )

Close the calibration structure opened using setCalibrationFile() and close the connection to the device.

Examples: testForceTorqueAti.cpp.

Definition at line 119 of file vpForceTorqueAtiSensor.cpp.

References vpComedi::close().

Referenced by ~vpForceTorqueAtiSensor().

◆ getCalibrationFile()

std::string vpForceTorqueAtiSensor::getCalibrationFile ( ) const

inline

Return the calibration file location specified using setCalibrationFile().

See also: setCalibrationFile()

Definition at line 98 of file vpForceTorqueAtiSensor.h.

References m_calibfile.

◆ getForceTorque()

vpColVector vpForceTorqueAtiSensor::getForceTorque ( ) const

Get a 6-dimension force/torque vector from device. This function performs synchronously one single data acquisition. "Synchronous" means that the calling process blocks until the data acquisition has finished.

Returns: A sampled measure from device with forces and torques. Forces units are given by getForceUnits(), while torque units by getTorqueUnits().

Examples: testForceTorqueAti.cpp.

Definition at line 137 of file vpForceTorqueAtiSensor.cpp.

References vpException::fatalError, vpComedi::getPhyData(), m_num_axes, m_num_channels, and vpArray2D< Type >::size().

◆ getForceUnits()

std::string vpForceTorqueAtiSensor::getForceUnits ( ) const

Get force units.

Definition at line 168 of file vpForceTorqueAtiSensor.cpp.

◆ getHandler()

comedi_t * vpComedi::getHandler ( ) const

inlineinherited

Get native Comedi handler.

Definition at line 119 of file vpComedi.h.

References m_handler.

◆ getMaxData()

std::vector< lsampl_t > vpComedi::getMaxData ( ) const

inlineinherited

Get max data per channel. The returned vector is of dimension the number of channels.

Definition at line 122 of file vpComedi.h.

References m_maxdata.

◆ getNChannel()

unsigned int vpComedi::getNChannel ( ) const

inlineinherited

Get number of channels.

Examples: testComedi.cpp.

Definition at line 124 of file vpComedi.h.

References m_nchannel.

◆ getPhyData()

vpColVector vpComedi::getPhyData ( ) const

inherited

Get physical data from device with units in Volts or mA. To know which unit is used, call getPhyDataUnits().

Examples: testComedi.cpp.

Definition at line 131 of file vpComedi.cpp.

References vpException::fatalError, getRawData(), vpMath::isNaN(), m_handler, m_maxdata, m_nchannel, and m_range_info.

Referenced by vpForceTorqueAtiSensor::bias(), vpForceTorqueAtiSensor::getForceTorque(), and vpForceTorqueAtiSensor::unbias().

◆ getPhyDataUnits()

std::string vpComedi::getPhyDataUnits ( ) const

inherited

Get units (V or mA) of the physical data acquired by getPhyData() or getPhyDataAsync().

Examples: testComedi.cpp.

Definition at line 153 of file vpComedi.cpp.

References vpException::fatalError, m_handler, and m_range_info.

◆ getRangeInfo()

std::vector< comedi_range * > vpComedi::getRangeInfo ( ) const

inlineinherited

Get data range information per channel. The returned vector is of dimension the number of channels.

Definition at line 131 of file vpComedi.h.

References m_range_info.

◆ getRawData()

std::vector< lsampl_t > vpComedi::getRawData ( ) const

protectedinherited

Get raw data from device. If you selected an analog input subdevice, the output is an unsigned number, for example between 0 and 65535 for a 16 bit analog input, with 0 representing the lowest voltage of the ADC, and a hardware-dependent maximum value representing the highest voltage.

Definition at line 103 of file vpComedi.cpp.

References vpException::fatalError, m_aref, m_device, m_handler, m_nchannel, m_range, and m_subdevice.

Referenced by getPhyData().

◆ getSubDevice()

unsigned int vpComedi::getSubDevice ( ) const

inlineinherited

Get comedi subdevice.

Definition at line 133 of file vpComedi.h.

References m_subdevice.

◆ getTorqueUnits()

std::string vpForceTorqueAtiSensor::getTorqueUnits ( ) const

Get torque units.

Definition at line 176 of file vpForceTorqueAtiSensor.cpp.

◆ open()

void vpForceTorqueAtiSensor::open ( )

Open the connection to the device.

See also: close()

Examples: testForceTorqueAti.cpp.

Definition at line 57 of file vpForceTorqueAtiSensor.cpp.

References m_num_channels, vpComedi::open(), and vpComedi::setChannelNumbers().

Referenced by bias(), and unbias().

◆ setAnalogReference()

void vpComedi::setAnalogReference ( const unsigned int & aref )

inlineinherited

Set analog reference type.

Parameters

aref	: The aref parameter specifies an analog reference to use: AREF_GROUND, AREF_COMMON, AREF_DIFF, or AREF_OTHER.

Definition at line 142 of file vpComedi.h.

References m_aref.

◆ setCalibrationFile()

void vpForceTorqueAtiSensor::setCalibrationFile	(	const std::string &	calibfile,
		unsigned short	index = 1 )

Open ATI calibration file that should correspond to your F/T sensor.

Parameters

calibfile	: ATI calibration file. This file has the following pattern: FT*.cal.
index	: Index of calibration in file (default =1).

See also: getCalibrationFile(), close()

Examples: testForceTorqueAti.cpp.

Definition at line 193 of file vpForceTorqueAtiSensor.cpp.

References vpException::fatalError, m_calibfile, m_index, m_num_axes, and m_num_channels.

◆ setChannelNumbers()

void vpComedi::setChannelNumbers ( const unsigned int & nchannel )

inlineinherited

Number of channels to read from sensor. For a 6-dim force/torque sensor use 6.

Examples: testComedi.cpp.

Definition at line 148 of file vpComedi.h.

References m_nchannel.

Referenced by vpForceTorqueAtiSensor::open().

◆ setDevice()

void vpComedi::setDevice ( const std::string & device )

inlineinherited

Set comedi device name. Default value is /dev/comedi0.

Examples: testComedi.cpp.

Definition at line 151 of file vpComedi.h.

References m_device.

◆ setRange()

void vpComedi::setRange ( const unsigned int & range )

inlineinherited

Set the range parameter that is the zero-based index of one of the gain ranges supported by the channel. This is a number from 0 to N-1 where N is the number of ranges supported by the channel.

Definition at line 158 of file vpComedi.h.

References m_range.

◆ setSubDevice()

void vpComedi::setSubDevice ( const unsigned int & subdevice )

inlineinherited

Set comedi analog input subdevice.

Definition at line 160 of file vpComedi.h.

References m_subdevice.

◆ unbias()

void vpForceTorqueAtiSensor::unbias ( )

Unbias the sensor.

See also: bias()

Examples: testForceTorqueAti.cpp.

Definition at line 92 of file vpForceTorqueAtiSensor.cpp.

References vpException::fatalError, vpComedi::getPhyData(), m_num_channels, m_sample_bias, and open().

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const vpForceTorqueAtiSensor &	ati )

friend

Return information from calibration file.

Parameters

os	: Input stream.
ati	: ATI F/T sensor interface.

The following example shows how to use this method.

#include <visp3/sensor/vpForceTorqueAtiSensor.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpForceTorqueAtiSensor ati;
  ati.setCalibrationFile("FT12345.cal");
  std::cout << "ATI F/T sensor characteristics: \n" << ati << std::endl;
}

Definition at line 234 of file vpForceTorqueAtiSensor.cpp.

References m_calibfile, m_index, operator<<, and vpForceTorqueAtiSensor().

Referenced by operator<<.

Member Data Documentation

◆ m_aref

unsigned int vpComedi::m_aref

protectedinherited

Analog reference

Definition at line 173 of file vpComedi.h.

Referenced by getRawData(), open(), setAnalogReference(), and vpComedi().

◆ m_calibfile

std::string vpForceTorqueAtiSensor::m_calibfile

protected

ATI calibration file FT*.cal.

Definition at line 111 of file vpForceTorqueAtiSensor.h.

Referenced by getCalibrationFile(), operator<<, setCalibrationFile(), and vpForceTorqueAtiSensor().

◆ m_chanlist

std::vector<unsigned int> vpComedi::m_chanlist

protectedinherited

Channel list

Definition at line 177 of file vpComedi.h.

Referenced by open(), and vpComedi().

◆ m_device

std::string vpComedi::m_device

protectedinherited

Comedi device name (default: /dev/comedi0)

Definition at line 169 of file vpComedi.h.

Referenced by getRawData(), open(), setDevice(), and vpComedi().

◆ m_handler

comedi_t* vpComedi::m_handler

protectedinherited

Comedi handler

Definition at line 170 of file vpComedi.h.

Referenced by close(), getHandler(), getPhyData(), getPhyDataUnits(), getRawData(), open(), and vpComedi().

◆ m_index

unsigned short vpForceTorqueAtiSensor::m_index

protected

Index of calibration in file (default: 1).

Definition at line 112 of file vpForceTorqueAtiSensor.h.

Referenced by operator<<, setCalibrationFile(), and vpForceTorqueAtiSensor().

◆ m_maxdata

std::vector<lsampl_t> vpComedi::m_maxdata

protectedinherited

Max data value

Definition at line 176 of file vpComedi.h.

Referenced by getMaxData(), getPhyData(), open(), and vpComedi().

◆ m_nchannel

unsigned int vpComedi::m_nchannel

protectedinherited

Number of channels

Definition at line 174 of file vpComedi.h.

Referenced by getNChannel(), getPhyData(), getRawData(), open(), setChannelNumbers(), and vpComedi().

◆ m_num_axes

unsigned short vpForceTorqueAtiSensor::m_num_axes

protected

Number of axis or gages available from the sensor.

Definition at line 113 of file vpForceTorqueAtiSensor.h.

Referenced by getForceTorque(), setCalibrationFile(), and vpForceTorqueAtiSensor().

◆ m_num_channels

unsigned short vpForceTorqueAtiSensor::m_num_channels

protected

Number of channels available from the sensor.

Definition at line 114 of file vpForceTorqueAtiSensor.h.

Referenced by bias(), getForceTorque(), open(), setCalibrationFile(), unbias(), and vpForceTorqueAtiSensor().

◆ m_range

unsigned int vpComedi::m_range

protectedinherited

Range of a channel

Definition at line 172 of file vpComedi.h.

Referenced by getRawData(), open(), setRange(), and vpComedi().

◆ m_range_info

std::vector<comedi_range *> vpComedi::m_range_info

protectedinherited

Range information

Definition at line 175 of file vpComedi.h.

Referenced by getPhyData(), getPhyDataUnits(), getRangeInfo(), open(), and vpComedi().

◆ m_sample_bias

vpColVector vpForceTorqueAtiSensor::m_sample_bias

protected

Sample value used for bias.

Definition at line 115 of file vpForceTorqueAtiSensor.h.

Referenced by bias(), unbias(), and vpForceTorqueAtiSensor().

◆ m_subdevice

unsigned int vpComedi::m_subdevice

protectedinherited

Input subdevice

Definition at line 171 of file vpComedi.h.

Referenced by getRawData(), getSubDevice(), open(), setSubDevice(), and vpComedi().

Public Member Functions

Protected Attributes

Friends

Inherited functionalities from vpComedi

Detailed Description

Constructor & Destructor Documentation

◆ vpForceTorqueAtiSensor()

◆ ~vpForceTorqueAtiSensor()

Member Function Documentation

◆ bias()

◆ close()

◆ getCalibrationFile()

◆ getForceTorque()

◆ getForceUnits()

◆ getHandler()

◆ getMaxData()

◆ getNChannel()

◆ getPhyData()

◆ getPhyDataUnits()

◆ getRangeInfo()

◆ getRawData()

◆ getSubDevice()

◆ getTorqueUnits()

◆ open()

◆ setAnalogReference()

◆ setCalibrationFile()

◆ setChannelNumbers()

◆ setDevice()

◆ setRange()

◆ setSubDevice()

◆ unbias()

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ m_aref

◆ m_calibfile

◆ m_chanlist

◆ m_device

◆ m_handler

◆ m_index

◆ m_maxdata

◆ m_nchannel

◆ m_num_axes

◆ m_num_channels

◆ m_range

◆ m_range_info

◆ m_sample_bias

◆ m_subdevice