ForceTorqueCtrl Class Reference

#include <ForceTorqueCtrl.h>

List of all members.

Public Member Functions
void	CalcCalibMatrix ()
	ForceTorqueCtrl ()
bool	Init ()
void	ReadCalibrationMatrix ()
void	ReadFirmwareVersion ()
void	ReadFTSerialNumber ()
void	ReadSGData (double &Fx, double &Fy, double &Fz, double &Tx, double &Ty, double &Tz)
void	SetActiveCalibrationMatrix (int num)
void	SetCalibMatrix ()
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	SetGaugeGain (float gg0, float gg1, float gg2, float gg3, float gg4, float gg5)
void	SetGaugeOffset (float sg0Off, float sg1Off, float sg2Off, float sg3Off, float sg4Off, float sg5Off)
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	StrainGaugeToForce (int &sg0, int &sg1, int &sg2, int &sg3, int &sg4, int &sg5)
	~ForceTorqueCtrl ()
Protected Member Functions
void	initCan ()
Private Member Functions
void	ReadMatrix (int axis, Eigen::VectorXf &vec)
Private Attributes
CanMsg	CMsg
unsigned int	d_len
union {
char   bytes [4]
float   value
}	fbBuf
union {
char   bytes [2]
short int   value
}	ibBuf
CanItf *	m_Can
Eigen::MatrixXf	m_mXCalibMatrix
Eigen::VectorXf	m_v3FXGain
Eigen::VectorXf	m_v3FYGain
Eigen::VectorXf	m_v3FZGain
Eigen::VectorXf	m_v3GaugeGain
Eigen::VectorXf	m_v3StrainGaigeOffset
Eigen::VectorXf	m_v3TXGain
Eigen::VectorXf	m_v3TYGain
Eigen::VectorXf	m_v3TZGain
Eigen::MatrixXf	m_vForceData
std::ofstream	out

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Detailed Description

Definition at line 22 of file ForceTorqueCtrl.h.

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Constructor & Destructor Documentation

ForceTorqueCtrl::ForceTorqueCtrl

(

)

Definition at line 4 of file ForceTorqueCtrl.cpp.

ForceTorqueCtrl::~ForceTorqueCtrl

(

)

Definition at line 9 of file ForceTorqueCtrl.cpp.

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Member Function Documentation

void ForceTorqueCtrl::CalcCalibMatrix

(

)

Definition at line 402 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::Init

(

)

Definition at line 13 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::initCan

(

)

[protected]

Definition at line 20 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::ReadCalibrationMatrix

(

)

Definition at line 82 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::ReadFirmwareVersion

(

)

Definition at line 211 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::ReadFTSerialNumber

(

)

Definition at line 26 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::ReadMatrix	(	int	axis,
		Eigen::VectorXf &	vec
	)			[private]

Definition at line 112 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::ReadSGData	(	double &	Fx,
		double &	Fy,
		double &	Fz,
		double &	Tx,
		double &	Ty,
		double &	Tz
	)

Definition at line 242 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::SetActiveCalibrationMatrix

(

int

num

)

Definition at line 51 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::SetCalibMatrix

(

)

Definition at line 450 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::SetFXGain	(	float	fxg0,
		float	fxg1,
		float	fxg2,
		float	fxg3,
		float	fxg4,
		float	fxg5
	)

Definition at line 357 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::SetFYGain	(	float	fyg0,
		float	fyg1,
		float	fyg2,
		float	fyg3,
		float	fyg4,
		float	fyg5
	)

Definition at line 364 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::SetFZGain	(	float	fzg0,
		float	fzg1,
		float	fzg2,
		float	fzg3,
		float	fzg4,
		float	fzg5
	)

Definition at line 372 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::SetGaugeGain	(	float	gg0,
		float	gg1,
		float	gg2,
		float	gg3,
		float	gg4,
		float	gg5
	)

Definition at line 349 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::SetGaugeOffset	(	float	sg0Off,
		float	sg1Off,
		float	sg2Off,
		float	sg3Off,
		float	sg4Off,
		float	sg5Off
	)

Definition at line 341 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::SetTXGain	(	float	txg0,
		float	txg1,
		float	txg2,
		float	txg3,
		float	txg4,
		float	txg5
	)

Definition at line 380 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::SetTYGain	(	float	tyg0,
		float	tyg1,
		float	tyg2,
		float	tyg3,
		float	tyg4,
		float	tyg5
	)

Definition at line 387 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::SetTZGain	(	float	tzg0,
		float	tzg1,
		float	tzg2,
		float	tzg3,
		float	tzg4,
		float	tzg5
	)

Definition at line 394 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::StrainGaugeToForce	(	int &	sg0,
		int &	sg1,
		int &	sg2,
		int &	sg3,
		int &	sg4,
		int &	sg5
	)

Definition at line 312 of file ForceTorqueCtrl.cpp.

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Member Data Documentation

char ForceTorqueCtrl::bytes[4]

Definition at line 75 of file ForceTorqueCtrl.h.

CanMsg ForceTorqueCtrl::CMsg [private]

Definition at line 52 of file ForceTorqueCtrl.h.

unsigned int ForceTorqueCtrl::d_len [private]

Definition at line 54 of file ForceTorqueCtrl.h.

union { ... } ForceTorqueCtrl::fbBuf [private]

union { ... } ForceTorqueCtrl::ibBuf [private]

CanItf* ForceTorqueCtrl::m_Can [private]

Definition at line 53 of file ForceTorqueCtrl.h.

Eigen::MatrixXf ForceTorqueCtrl::m_mXCalibMatrix [private]

Definition at line 63 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3FXGain [private]

Definition at line 57 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3FYGain [private]

Definition at line 58 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3FZGain [private]

Definition at line 59 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3GaugeGain [private]

Definition at line 56 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3StrainGaigeOffset [private]

Definition at line 55 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3TXGain [private]

Definition at line 60 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3TYGain [private]

Definition at line 61 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3TZGain [private]

Definition at line 62 of file ForceTorqueCtrl.h.

Eigen::MatrixXf ForceTorqueCtrl::m_vForceData [private]

Definition at line 64 of file ForceTorqueCtrl.h.

std::ofstream ForceTorqueCtrl::out [private]

Definition at line 85 of file ForceTorqueCtrl.h.

float ForceTorqueCtrl::value

Definition at line 82 of file ForceTorqueCtrl.h.

short int ForceTorqueCtrl::value

Definition at line 76 of file ForceTorqueCtrl.h.

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The documentation for this class was generated from the following files:

• ForceTorqueCtrl.h
• ForceTorqueCtrl.cpp