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Visual Servoing Platform
version 3.3.0
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#include <vpForceTorqueIitSensor.h>
Public Member Functions | |
vpForceTorqueIitSensor () | |
~vpForceTorqueIitSensor () | |
void | bias () |
bool | connected (int timeout_ms=0) const |
vpColVector | getForceTorque () |
void | startStreaming () |
void | stopStreaming () |
Protected Member Functions | |
void | acquisitionLoop () |
void | close () |
void | join () |
Protected Attributes | |
ftSensorLib | m_ftLib |
int | m_numSensorsInLib |
vpColVector | m_ft |
ftSensorsConnected | m_ftSensorsData {} |
std::atomic< bool > | m_acquisitionEnabled |
std::atomic< bool > | m_dataValid |
bool | m_connected |
std::thread | m_acquisitionThread |
std::chrono::time_point< std::chrono::system_clock > | m_timeCur |
std::chrono::time_point< std::chrono::system_clock > | m_timePrev |
std::mutex | m_mutex |
int | m_warmupMilliseconds |
This class is a wrapper over six axis load measurement (forces and torques) from IIT (ISTITUTO ITALIANO DI TECNOLOGIA) sell by Alberobotics.
The following example shows how to use this class to stream force-torque data at 1kHz and print a measurement each second.
Once build, in the same folder as the binary you should find a configuration file named configurationSettings.ini
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$VISP_WS/modules/sensor/test/force-torque/configurationSettings.ini
with default settings. LOCAL_IFACE_IP = 192.168.100.100 ; Host Computer's local interface IP LOCAL_IFACE = enp0s31f6 ; Host Computer's local interface name (it is required only in Linux)
192.168.1.1
. Browsing to this address with Firefox allows to modify it's default IP address. If the new sensor IP address is for example 192.168.100.10
, you need to modify the following line: USE_DEFAULT_SETTINGS = false ; If "true", the library will use the ; DEFAULT_SETTINGS. Note that the sensor ; needs to be in the "DEF" IP position. ; If "false", the library will use the ; USER_SETTINGS to initialize the communication ; with the sensor. [USER_SETTINGS] ; USER SETTINGS FOR USE IN SINGLE_SENSOR_MODE when USE_DEFAULT_SETTINGS=false USER_IP = 192.168.100.10 ; User Sensor IP
When running a binary that uses vpForceTorqueIitSensor class,
LD_LIBRARY_PATH
environment variable. This could be achieved running: $VISP_WS/3rdparty/FT_SDK_01_4
contains IIT SDK. Definition at line 141 of file vpForceTorqueIitSensor.h.
vpForceTorqueIitSensor::vpForceTorqueIitSensor | ( | ) |
Default constructor.
Establish communication with sensor(-s) and start data acquisition thread.
Definition at line 53 of file vpForceTorqueIitSensor.cpp.
vpForceTorqueIitSensor::~vpForceTorqueIitSensor | ( | ) |
Destructor that stops streaming
Definition at line 92 of file vpForceTorqueIitSensor.cpp.
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Acquisition loop. Warm up the sensor
Definition at line 107 of file vpForceTorqueIitSensor.cpp.
void vpForceTorqueIitSensor::bias | ( | ) |
Bias all sensors by TCP.
Definition at line 158 of file vpForceTorqueIitSensor.cpp.
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Stops data streaming.
Definition at line 82 of file vpForceTorqueIitSensor.cpp.
bool vpForceTorqueIitSensor::connected | ( | int | timeout_ms = 0 | ) | const |
Return true if communication established with at least one sensor.
timeout_ms | : Timeout in milliseconds. |
If you get the following error:
it means probably that you didn't set the right parameters in the configuration file configurationSettings.ini
. See class description to get some hints.
Definition at line 171 of file vpForceTorqueIitSensor.cpp.
vpColVector vpForceTorqueIitSensor::getForceTorque | ( | ) |
Get force-torque data in SI units.
Definition at line 185 of file vpForceTorqueIitSensor.cpp.
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Join acquisition thread.
Definition at line 97 of file vpForceTorqueIitSensor.cpp.
void vpForceTorqueIitSensor::startStreaming | ( | ) |
Start acquisition thread and wait until data are available.
Definition at line 194 of file vpForceTorqueIitSensor.cpp.
void vpForceTorqueIitSensor::stopStreaming | ( | ) |
Stop acquisition thread.
Definition at line 207 of file vpForceTorqueIitSensor.cpp.
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Definition at line 167 of file vpForceTorqueIitSensor.h.
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Definition at line 171 of file vpForceTorqueIitSensor.h.
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Definition at line 169 of file vpForceTorqueIitSensor.h.
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Definition at line 168 of file vpForceTorqueIitSensor.h.
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Definition at line 163 of file vpForceTorqueIitSensor.h.
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Definition at line 160 of file vpForceTorqueIitSensor.h.
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Definition at line 165 of file vpForceTorqueIitSensor.h.
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Definition at line 174 of file vpForceTorqueIitSensor.h.
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Definition at line 161 of file vpForceTorqueIitSensor.h.
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Definition at line 172 of file vpForceTorqueIitSensor.h.
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Definition at line 172 of file vpForceTorqueIitSensor.h.
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Definition at line 175 of file vpForceTorqueIitSensor.h.