45 #ifndef vpForceTorqueIitSensor_h
46 #define vpForceTorqueIitSensor_h
48 #include <visp3/core/vpConfig.h>
50 #ifdef VISP_HAVE_FT_IIT_SDK
55 #include <visp3/core/vpColVector.h>
57 #include <ftSensorLib/ftSensorLib.h>
149 bool connected(
int timeout_ms = 0)
const;
152 void startStreaming();
153 void stopStreaming();
156 void acquisitionLoop();
162 int m_numSensorsInLib;
166 ftSensorsConnected m_ftSensorsData{};
168 std::atomic<bool> m_acquisitionEnabled;
169 std::atomic<bool> m_dataValid;
172 std::thread m_acquisitionThread;
173 std::chrono::time_point<std::chrono::system_clock> m_timeCur, m_timePrev;
176 int m_warmupMilliseconds;