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hal
Ati.h
Go to the documentation of this file.
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//
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// Copyright (c) 2009, Markus Rickert
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of the Technische Universitaet Muenchen nor the names of
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// its contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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#ifndef _RL_HAL_ATI_H_
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#define _RL_HAL_ATI_H_
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#include <string>
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#include <atidaq/ftconfig.h>
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#include "
SixAxisForceTorqueSensor.h
"
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namespace
rl
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{
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namespace
hal
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{
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class
Comedi;
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class
Ati
:
public
SixAxisForceTorqueSensor
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{
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public
:
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Ati
(const ::std::string&
calFilePath
,
const
unsigned
short
int
&
index
= 0, const ::std::string& filename =
"/dev/comedi0"
);
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virtual
~Ati
();
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void
bias
();
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void
close
();
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::std::string
getAxisName
(const ::std::size_t& i)
const
;
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void
getForces
(::
rl::math::Vector
& forces)
const
;
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::rl::math::Real
getForcesMaximum
(const ::std::size_t& i)
const
;
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::rl::math::Real
getForcesMinimum
(const ::std::size_t& i)
const
;
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void
getForcesTorques
(::
rl::math::Vector
& forcesTorques)
const
;
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::rl::math::Real
getForcesTorquesMaximum
(const ::std::size_t& i)
const
;
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::rl::math::Real
getForcesTorquesMinimum
(const ::std::size_t& i)
const
;
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void
getTorques
(::
rl::math::Vector
& torques)
const
;
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::rl::math::Real
getTorquesMaximum
(const ::std::size_t& i)
const
;
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::rl::math::Real
getTorquesMinimum
(const ::std::size_t& i)
const
;
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void
open
();
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void
resetBias
();
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void
start
();
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void
step
();
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void
stop
();
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protected
:
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private
:
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Calibration*
cal
;
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::std::string
calFilePath
;
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Comedi
*
comedi
;
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unsigned
short
int
index
;
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float
values
[6];
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float
voltages
[6];
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};
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}
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}
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#endif // _RL_HAL_ATI_H_
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