Visual Servoing Platform version 3.6.0
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vpForceTorqueAtiNetFTSensor.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * ATI Force torque interface.
33 *
34*****************************************************************************/
35#ifndef _vpForceTorqueAtiNetFTSensor_h_
36#define _vpForceTorqueAtiNetFTSensor_h_
37
38#include <visp3/core/vpConfig.h>
39
40#include <ostream>
41
42#include <visp3/core/vpColVector.h>
43#include <visp3/core/vpUDPClient.h>
44
45// Make vpForceTorqueAtiNetFTSensor available only if inet_ntop() used to
46// communicate by UDP with the sensor through vpUDPClient is available; inet_ntop()
47// is not supported on win XP
48#ifdef VISP_HAVE_FUNC_INET_NTOP
49
103class VISP_EXPORT vpForceTorqueAtiNetFTSensor : public vpUDPClient
104{
105public:
107 vpForceTorqueAtiNetFTSensor(const std::string &hostname, int port);
109
110 void bias(unsigned int n_counts = 50);
115 inline unsigned long getCountsPerForce() const { return m_counts_per_force; }
120 inline unsigned long getCountsPerTorque() const { return m_counts_per_torque; }
124 inline unsigned long getDataCounter() const { return m_data_count; }
129 inline unsigned long getScalingFactor() const { return m_scaling_factor; }
130 vpColVector getForceTorque() const;
136 inline void setCountsPerForce(unsigned long counts) { m_counts_per_force = counts; }
142 inline void setCountsPerTorque(unsigned long counts) { m_counts_per_torque = counts; }
148 inline void setScalingFactor(unsigned long scaling_factor) { m_scaling_factor = scaling_factor; }
149 bool startStreaming();
150 void stopStreaming();
151
152 void unbias();
153 bool waitForNewData(unsigned int timeout = 50);
154
155protected:
156 unsigned long m_counts_per_force;
157 unsigned long m_counts_per_torque;
158 unsigned long m_scaling_factor;
160 unsigned long m_data_count;
161 unsigned long m_data_count_prev;
164};
165
166#endif
167#endif
Implementation of column vector and the associated operations.
void setCountsPerTorque(unsigned long counts)
void setCountsPerForce(unsigned long counts)
void setScalingFactor(unsigned long scaling_factor)
This class implements a basic (IPv4) User Datagram Protocol (UDP) client.