38 #ifndef _vpForceTorqueAtiSensor_h_
39 #define _vpForceTorqueAtiSensor_h_
41 #include <visp3/core/vpConfig.h>
43 #if defined(VISP_HAVE_ATIDAQ) && defined(VISP_HAVE_COMEDI)
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/sensor/vpComedi.h>
103 std::string getCalibrationFile()
const {
return m_calibfile; }
106 std::string getForceUnits()
const;
107 std::string getTorqueUnits()
const;
111 void setCalibrationFile(
const std::string &calibfile,
unsigned short index = 1);
117 std::string m_calibfile;
118 unsigned short m_index;
119 unsigned short m_num_axes;
120 unsigned short m_num_channels;