51 #ifndef FORCETORQUECTRL_INCLUDEDEF_H 52 #define FORCETORQUECTRL_INCLUDEDEF_H 66 #define READ_MATRIX 0x2 67 #define READ_SERIALNR 0x5 69 #define READ_COUNTSPERU 0x7 70 #define READ_UNITCODE 0x8 71 #define READ_DIAGNOV 0X9 73 #define SET_BASEID 0xD 75 #define READ_FIRMWARE 0xF 77 #define ATI_CAN_BAUD_2M 0 78 #define ATI_CAN_BAUD_1M 1 79 #define ATI_CAN_BAUD_500K 3 80 #define ATI_CAN_BAUD_250K 7 86 ForceTorqueCtrl(
int can_type, std::string can_path,
int can_baudrate,
int base_identifier);
98 bool ReadSGData(
int statusCode,
double& Fx,
double& Fy,
double& Fz,
double& Tx,
double& Ty,
double& Tz);
102 void SetGaugeOffset(
float sg0Off,
float sg1Off,
float sg2Off,
float sg3Off,
float sg4Off,
float sg5Off);
103 void SetGaugeGain(
float gg0,
float gg1,
float gg2,
float gg3,
float gg4,
float gg5);
104 void SetFXGain(
float fxg0,
float fxg1,
float fxg2,
float fxg3,
float fxg4,
float fxg5);
105 void SetFYGain(
float fyg0,
float fyg1,
float fyg2,
float fyg3,
float fyg4,
float fyg5);
106 void SetFZGain(
float fzg0,
float fzg1,
float fzg2,
float fzg3,
float fzg4,
float fzg5);
107 void SetTXGain(
float txg0,
float txg1,
float txg2,
float txg3,
float txg4,
float txg5);
108 void SetTYGain(
float tyg0,
float tyg1,
float tyg2,
float tyg3,
float tyg4,
float tyg5);
109 void SetTZGain(
float tzg0,
float tzg1,
float tzg2,
float tzg3,
float tzg4,
float tzg5);
145 void ReadMatrix(
int axis, Eigen::VectorXf& vec);
Eigen::VectorXf m_v3GaugeGain
Eigen::MatrixXf m_vForceData
bool ReadFTSerialNumber()
Eigen::VectorXf m_v3FXGain
void ReadCalibrationMatrix()
void SetFYGain(float fyg0, float fyg1, float fyg2, float fyg3, float fyg4, float fyg5)
void SetTYGain(float tyg0, float tyg1, float tyg2, float tyg3, float tyg4, float tyg5)
bool ReadSGData(int statusCode, double &Fx, double &Fy, double &Fz, double &Tx, double &Ty, double &Tz)
Eigen::MatrixXf m_mXCalibMatrix
void SetTZGain(float tzg0, float tzg1, float tzg2, float tzg3, float tzg4, float tzg5)
void SetFZGain(float fzg0, float fzg1, float fzg2, float fzg3, float fzg4, float fzg5)
bool readDiagnosticADCVoltages(int index, short int &value)
void SetTXGain(float txg0, float txg1, float txg2, float txg3, float txg4, float txg5)
Eigen::VectorXf m_v3FYGain
bool SetBaudRate(int value)
bool SetActiveCalibrationMatrix(int num)
Eigen::VectorXf m_v3TZGain
void SetFXGain(float fxg0, float fxg1, float fxg2, float fxg3, float fxg4, float fxg5)
void ReadMatrix(int axis, Eigen::VectorXf &vec)
union ForceTorqueCtrl::@3 ibBuf
void SetGaugeOffset(float sg0Off, float sg1Off, float sg2Off, float sg3Off, float sg4Off, float sg5Off)
Eigen::VectorXf m_v3TYGain
union ForceTorqueCtrl::@4 intbBuf
bool SetBaseIdentifier(int identifier)
Eigen::VectorXf m_v3FZGain
bool ReadFirmwareVersion()
union ForceTorqueCtrl::@5 fbBuf
Eigen::VectorXf m_v3StrainGaigeOffset
Eigen::VectorXf m_v3TXGain
void StrainGaugeToForce(int &sg0, int &sg1, int &sg2, int &sg3, int &sg4, int &sg5)
void SetGaugeGain(float gg0, float gg1, float gg2, float gg3, float gg4, float gg5)