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Jr3.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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4 //
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29 
30 #ifndef _RL_HAL_JR3_H_
31 #define _RL_HAL_JR3_H_
32 
33 #include <string>
34 
36 
37 namespace rl
38 {
39  namespace hal
40  {
41  class Comedi;
42 
44  {
45  public:
46  Jr3(const ::std::string& filename = "/dev/comedi0");
47 
48  virtual ~Jr3();
49 
50  void bias();
51 
52  void close();
53 
54  void getForces(::rl::math::Vector& forces) const;
55 
56  ::rl::math::Real getForcesMaximum(const ::std::size_t& i) const;
57 
58  ::rl::math::Real getForcesMinimum(const ::std::size_t& i) const;
59 
60  void getForcesTorques(::rl::math::Vector& forcesTorques) const;
61 
62  ::rl::math::Real getForcesTorquesMaximum(const ::std::size_t& i) const;
63 
64  ::rl::math::Real getForcesTorquesMinimum(const ::std::size_t& i) const;
65 
66  void getTorques(::rl::math::Vector& torques) const;
67 
68  ::rl::math::Real getTorquesMaximum(const ::std::size_t& i) const;
69 
70  ::rl::math::Real getTorquesMinimum(const ::std::size_t& i) const;
71 
72  void open();
73 
74  void resetBias();
75 
76  void start();
77 
78  void step();
79 
80  void stop();
81 
82  protected:
83 
84  private:
86 
87  float values[6];
88 
89  float zeroes[6];
90  };
91  }
92 }
93 
94 #endif // _RL_HAL_JR3_H_