ForceTorqueCtrl.h

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#ifndef FORCETORQUE
#define FORCETORQUE

#include <iostream>


#include <cob_forcetorque/CanESD.h>
#include <Eigen/Core>
#include <Eigen/Array>
#include <fstream>

//opCodes for the ForceTorque Can Interface
//set as Can Message ID
#define READ_SG         0x200
#define READ_MATRIX     0x202
#define READ_CALIB      0x205
#define SET_CALIB       0x206
#define SET_BASEID      0x213
#define SET_BAUD        0x214
#define READ_FIRMWARE   0x215

class ForceTorqueCtrl
{
        public: 
                ForceTorqueCtrl();
                ~ForceTorqueCtrl();

                bool Init();
                void ReadFTSerialNumber();
                void SetActiveCalibrationMatrix(int num);
                void ReadSGData(double &Fx, double &Fy, double &Fz, double &Tx, double &Ty, double &Tz);
                void ReadFirmwareVersion();
                void ReadCalibrationMatrix();

                void SetGaugeOffset(float sg0Off, float sg1Off, float sg2Off, float sg3Off, float sg4Off, float sg5Off);
                void SetGaugeGain(float gg0, float gg1, float gg2, float gg3, float gg4, float gg5);
                void SetFXGain(float fxg0, float fxg1, float fxg2, float fxg3, float fxg4, float fxg5);
                void SetFYGain(float fyg0, float fyg1, float fyg2, float fyg3, float fyg4, float fyg5);
                void SetFZGain(float fzg0, float fzg1, float fzg2, float fzg3, float fzg4, float fzg5);
                void SetTXGain(float txg0, float txg1, float txg2, float txg3, float txg4, float txg5);
                void SetTYGain(float tyg0, float tyg1, float tyg2, float tyg3, float tyg4, float tyg5);
                void SetTZGain(float tzg0, float tzg1, float tzg2, float tzg3, float tzg4, float tzg5);

                void SetCalibMatrix();
                void CalcCalibMatrix();
                void StrainGaugeToForce(int& sg0, int& sg1, int& sg2, int& sg3, int& sg4, int& sg5);
        
        protected:
                void initCan();
                
        private:
                CanMsg CMsg;
                CanItf* m_Can;
                unsigned int d_len;
                Eigen::VectorXf m_v3StrainGaigeOffset;
                Eigen::VectorXf m_v3GaugeGain;
                Eigen::VectorXf m_v3FXGain;
                Eigen::VectorXf m_v3FYGain;
                Eigen::VectorXf m_v3FZGain;
                Eigen::VectorXf m_v3TXGain;
                Eigen::VectorXf m_v3TYGain;
                Eigen::VectorXf m_v3TZGain;
                Eigen::MatrixXf m_mXCalibMatrix;
                Eigen::MatrixXf m_vForceData;
                
                

                // the Parameter indicates the Axis row to Read
                // Fx = 0 | Fy = 1 | Fz = 2 | Tx = 3 | Ty = 4 | Tz = 5
                void ReadMatrix(int axis, Eigen::VectorXf& vec);
                

                union
                {
                    char bytes[2];
                    short int value;
                } ibBuf;

                union
                {
                        char bytes[4];
                        float value;
                } fbBuf;

                std::ofstream out; 
};

#endif

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cob_forcetorque
Author(s): Alexander Bubeck
autogenerated on Fri Jan 11 09:54:27 2013