vpForceTorqueAtiSensor.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * ATI Force torque interface.
 *
*****************************************************************************/
#ifndef _vpForceTorqueAtiSensor_h_
#define _vpForceTorqueAtiSensor_h_
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_ATIDAQ) && defined(VISP_HAVE_COMEDI)
 
#include <ostream>
 
#include <visp3/core/vpColVector.h>
#include <visp3/sensor/vpComedi.h>

class VISP_EXPORT vpForceTorqueAtiSensor : public vpComedi
{
public:
  vpForceTorqueAtiSensor();
  virtual ~vpForceTorqueAtiSensor();
 
  void bias();
  void close();

  std::string getCalibrationFile() const { return m_calibfile; }
  vpColVector getForceTorque() const;
  vpColVector getForceTorqueAsync() const;
  std::string getForceUnits() const;
  std::string getTorqueUnits() const;
 
  void open();
 
  void setCalibrationFile(const std::string &calibfile, unsigned short index = 1);
  void unbias();
 
  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpForceTorqueAtiSensor &ati);
 
protected:
  std::string m_calibfile;       
  unsigned short m_index;        
  unsigned short m_num_axes;     
  unsigned short m_num_channels; 
  vpColVector m_sample_bias;     
};
 
#endif
#endif