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Ati.h
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2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_HAL_ATI_H_
31 #define _RL_HAL_ATI_H_
32 
33 #include <string>
34 #include <atidaq/ftconfig.h>
35 
37 
38 namespace rl
39 {
40  namespace hal
41  {
42  class Comedi;
43 
45  {
46  public:
47  Ati(const ::std::string& calFilePath, const unsigned short int& index = 0, const ::std::string& filename = "/dev/comedi0");
48 
49  virtual ~Ati();
50 
51  void bias();
52 
53  void close();
54 
55  ::std::string getAxisName(const ::std::size_t& i) const;
56 
57  void getForces(::rl::math::Vector& forces) const;
58 
59  ::rl::math::Real getForcesMaximum(const ::std::size_t& i) const;
60 
61  ::rl::math::Real getForcesMinimum(const ::std::size_t& i) const;
62 
63  void getForcesTorques(::rl::math::Vector& forcesTorques) const;
64 
65  ::rl::math::Real getForcesTorquesMaximum(const ::std::size_t& i) const;
66 
67  ::rl::math::Real getForcesTorquesMinimum(const ::std::size_t& i) const;
68 
69  void getTorques(::rl::math::Vector& torques) const;
70 
71  ::rl::math::Real getTorquesMaximum(const ::std::size_t& i) const;
72 
73  ::rl::math::Real getTorquesMinimum(const ::std::size_t& i) const;
74 
75  void open();
76 
77  void resetBias();
78 
79  void start();
80 
81  void step();
82 
83  void stop();
84 
85  protected:
86 
87  private:
88  Calibration* cal;
89 
91  ::std::string calFilePath;
92 
94 
96  unsigned short int index;
97 
98  float values[6];
99 
100  float voltages[6];
101  };
102  }
103 }
104 
105 #endif // _RL_HAL_ATI_H_