Robotics Library  0.6.0
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Public Member Functions | Private Attributes
rl::hal::Ati Class Reference

#include <Ati.h>

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List of all members.

Public Member Functions

 Ati (const ::std::string &calFilePath, const unsigned short int &index=0, const ::std::string &filename="/dev/comedi0")
virtual ~Ati ()
void bias ()
void close ()
::std::string getAxisName (const ::std::size_t &i) const
void getForces (::rl::math::Vector &forces) const
::rl::math::Real getForcesMaximum (const ::std::size_t &i) const
::rl::math::Real getForcesMinimum (const ::std::size_t &i) const
void getForcesTorques (::rl::math::Vector &forcesTorques) const
::rl::math::Real getForcesTorquesMaximum (const ::std::size_t &i) const
::rl::math::Real getForcesTorquesMinimum (const ::std::size_t &i) const
void getTorques (::rl::math::Vector &torques) const
::rl::math::Real getTorquesMaximum (const ::std::size_t &i) const
::rl::math::Real getTorquesMinimum (const ::std::size_t &i) const
void open ()
void resetBias ()
void start ()
void step ()
void stop ()
- Public Member Functions inherited from rl::hal::SixAxisForceTorqueSensor
 SixAxisForceTorqueSensor ()
virtual ~SixAxisForceTorqueSensor ()
::std::size_t getForcesCount () const
::std::size_t getTorquesCount () const
- Public Member Functions inherited from rl::hal::ForceSensor
 ForceSensor ()
virtual ~ForceSensor ()
- Public Member Functions inherited from rl::hal::Device
 Device ()
virtual ~Device ()
bool isConnected () const
bool isRunning () const
- Public Member Functions inherited from rl::hal::TorqueSensor
 TorqueSensor ()
virtual ~TorqueSensor ()

Private Attributes

Calibration * cal
::std::string calFilePath
Comedicomedi
unsigned short int index
float values [6]
float voltages [6]

Constructor & Destructor Documentation

rl::hal::Ati::Ati ( const ::std::string &  calFilePath,
const unsigned short int &  index = 0,
const ::std::string &  filename = "/dev/comedi0" 
)
rl::hal::Ati::~Ati ( )
virtual

Member Function Documentation

void rl::hal::Ati::bias ( )
void rl::hal::Ati::close ( )
virtual
Precondition:
stop()

Implements rl::hal::Device.

std::string rl::hal::Ati::getAxisName ( const ::std::size_t &  i) const
void rl::hal::Ati::getForces ( ::rl::math::Vector forces) const
virtual
Parameters:
forces[N]

Implements rl::hal::ForceSensor.

rl::math::Real rl::hal::Ati::getForcesMaximum ( const ::std::size_t &  i) const
virtual
Returns:
[N]

Reimplemented from rl::hal::SixAxisForceTorqueSensor.

rl::math::Real rl::hal::Ati::getForcesMinimum ( const ::std::size_t &  i) const
virtual
Returns:
[N]

Reimplemented from rl::hal::SixAxisForceTorqueSensor.

void rl::hal::Ati::getForcesTorques ( ::rl::math::Vector forcesTorques) const
virtual
Parameters:
forcesTorques[N],[N],[N],[Nm],[Nm],[Nm]

Implements rl::hal::SixAxisForceTorqueSensor.

rl::math::Real rl::hal::Ati::getForcesTorquesMaximum ( const ::std::size_t &  i) const
virtual
Returns:
[N],[N],[N],[Nm],[Nm],[Nm]

Implements rl::hal::SixAxisForceTorqueSensor.

rl::math::Real rl::hal::Ati::getForcesTorquesMinimum ( const ::std::size_t &  i) const
virtual
Returns:
[N],[N],[N],[Nm],[Nm],[Nm]

Implements rl::hal::SixAxisForceTorqueSensor.

void rl::hal::Ati::getTorques ( ::rl::math::Vector torques) const
virtual
Parameters:
torques[Nm]

Implements rl::hal::TorqueSensor.

rl::math::Real rl::hal::Ati::getTorquesMaximum ( const ::std::size_t &  i) const
virtual
Returns:
[Nm]

Reimplemented from rl::hal::SixAxisForceTorqueSensor.

rl::math::Real rl::hal::Ati::getTorquesMinimum ( const ::std::size_t &  i) const
virtual
Returns:
[Nm]

Reimplemented from rl::hal::SixAxisForceTorqueSensor.

void rl::hal::Ati::open ( )
virtual

Implements rl::hal::Device.

void rl::hal::Ati::resetBias ( )
void rl::hal::Ati::start ( )
virtual
Precondition:
open()

Implements rl::hal::Device.

void rl::hal::Ati::step ( )
virtual
Precondition:
start()

Implements rl::hal::Device.

void rl::hal::Ati::stop ( )
virtual
Precondition:
open()

Implements rl::hal::Device.


Member Data Documentation

Calibration* rl::hal::Ati::cal
private
::std::string rl::hal::Ati::calFilePath
private

The name and path of the calibration file.

Comedi* rl::hal::Ati::comedi
private
unsigned short int rl::hal::Ati::index
private

The number of the calibration within the file (usually 1).

float rl::hal::Ati::values[6]
private
float rl::hal::Ati::voltages[6]
private

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