Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
ForceTorqueCtrl Class Reference

#include <ForceTorqueCtrl.h>

List of all members.

Public Member Functions

void CalcCalibMatrix ()
 ForceTorqueCtrl ()
 ForceTorqueCtrl (int can_type, std::string can_path, int can_baudrate, int base_identifier)
bool Init ()
void ReadCalibrationMatrix ()
bool ReadCountsPerUnit ()
bool ReadDiagnosticADCVoltages (int index, short int &value)
bool ReadFirmwareVersion ()
bool ReadFTSerialNumber ()
bool ReadSGData (int statusCode, double &Fx, double &Fy, double &Fz, double &Tx, double &Ty, double &Tz)
bool ReadUnitCodes ()
bool Reset ()
bool SetActiveCalibrationMatrix (int num)
bool SetBaseIdentifier (int identifier)
bool SetBaudRate (int value)
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

bool initCan ()

Protected Attributes

bool m_bWatchdogErr
CanMsg m_CanMsgRec

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
union {
   char   bytes [4]
   int   value
intbBuf
int m_CanBaseIdentifier
int m_CanBaudrate
std::string m_CanDevice
int m_CanType
Eigen::MatrixXf m_mXCalibMatrix
CanItfm_pCanCtrl
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

Detailed Description

Definition at line 82 of file ForceTorqueCtrl.h.


Constructor & Destructor Documentation

Definition at line 62 of file ForceTorqueCtrl.cpp.

ForceTorqueCtrl::ForceTorqueCtrl ( int  can_type,
std::string  can_path,
int  can_baudrate,
int  base_identifier 
)

Definition at line 74 of file ForceTorqueCtrl.cpp.

Definition at line 86 of file ForceTorqueCtrl.cpp.


Member Function Documentation

Definition at line 972 of file ForceTorqueCtrl.cpp.

Definition at line 94 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::initCan ( ) [protected]

Definition at line 134 of file ForceTorqueCtrl.cpp.

Definition at line 553 of file ForceTorqueCtrl.cpp.

Definition at line 211 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::ReadDiagnosticADCVoltages ( int  index,
short int &  value 
)

Definition at line 324 of file ForceTorqueCtrl.cpp.

Definition at line 704 of file ForceTorqueCtrl.cpp.

Definition at line 154 of file ForceTorqueCtrl.cpp.

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

Definition at line 583 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::ReadSGData ( int  statusCode,
double &  Fx,
double &  Fy,
double &  Fz,
double &  Tx,
double &  Ty,
double &  Tz 
)

Definition at line 755 of file ForceTorqueCtrl.cpp.

Definition at line 280 of file ForceTorqueCtrl.cpp.

Definition at line 479 of file ForceTorqueCtrl.cpp.

Definition at line 375 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::SetBaseIdentifier ( int  identifier)

Definition at line 500 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::SetBaudRate ( int  value)

Definition at line 428 of file ForceTorqueCtrl.cpp.

Definition at line 1020 of file ForceTorqueCtrl.cpp.

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

Definition at line 899 of file ForceTorqueCtrl.cpp.

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

Definition at line 911 of file ForceTorqueCtrl.cpp.

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

Definition at line 923 of file ForceTorqueCtrl.cpp.

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

Definition at line 886 of file ForceTorqueCtrl.cpp.

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

Definition at line 875 of file ForceTorqueCtrl.cpp.

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

Definition at line 935 of file ForceTorqueCtrl.cpp.

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

Definition at line 947 of file ForceTorqueCtrl.cpp.

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

Definition at line 959 of file ForceTorqueCtrl.cpp.

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

Definition at line 859 of file ForceTorqueCtrl.cpp.


Member Data Documentation

Definition at line 149 of file ForceTorqueCtrl.h.

Definition at line 123 of file ForceTorqueCtrl.h.

unsigned int ForceTorqueCtrl::d_len [private]

Definition at line 131 of file ForceTorqueCtrl.h.

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

Definition at line 120 of file ForceTorqueCtrl.h.

Definition at line 129 of file ForceTorqueCtrl.h.

Definition at line 128 of file ForceTorqueCtrl.h.

std::string ForceTorqueCtrl::m_CanDevice [private]

Definition at line 127 of file ForceTorqueCtrl.h.

Definition at line 119 of file ForceTorqueCtrl.h.

Definition at line 126 of file ForceTorqueCtrl.h.

Eigen::MatrixXf ForceTorqueCtrl::m_mXCalibMatrix [private]

Definition at line 140 of file ForceTorqueCtrl.h.

Definition at line 124 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3FXGain [private]

Definition at line 134 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3FYGain [private]

Definition at line 135 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3FZGain [private]

Definition at line 136 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3GaugeGain [private]

Definition at line 133 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3StrainGaigeOffset [private]

Definition at line 132 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3TXGain [private]

Definition at line 137 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3TYGain [private]

Definition at line 138 of file ForceTorqueCtrl.h.

Eigen::VectorXf ForceTorqueCtrl::m_v3TZGain [private]

Definition at line 139 of file ForceTorqueCtrl.h.

Eigen::MatrixXf ForceTorqueCtrl::m_vForceData [private]

Definition at line 141 of file ForceTorqueCtrl.h.

std::ofstream ForceTorqueCtrl::out [private]

Definition at line 165 of file ForceTorqueCtrl.h.

Definition at line 150 of file ForceTorqueCtrl.h.

Definition at line 156 of file ForceTorqueCtrl.h.

Definition at line 162 of file ForceTorqueCtrl.h.


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


ati_force_torque
Author(s): Denis Štogl, Alexander Bubeck
autogenerated on Thu Jun 6 2019 21:13:29