#include <ati_force_torque_hw_can.h>

Inheritance diagram for ATIForceTorqueSensorHWCan:

Public Member Functions
	ATIForceTorqueSensorHWCan ()

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

void	CalcCalibMatrix ()

bool	init ()

bool	initCommunication (int can_type, std::string can_path, int can_baudrate, int base_identifier)

void	ReadCalibrationMatrix ()

bool	ReadCountsPerUnit ()

bool	readDiagnosticADCVoltages (int index, short int &value)

bool	ReadFirmwareVersion ()

bool	readFTData (int statusCode, double &Fx, double &Fy, double &Fz, double &Tx, double &Ty, double &Tz)

bool	ReadFTSerialNumber ()

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)

	~ATIForceTorqueSensorHWCan ()

Public Member Functions inherited from hardware_interface::ForceTorqueSensorHW
	ForceTorqueSensorHW ()

	ForceTorqueSensorHW (int type, std::string path, int baudrate, int base_identifier)

virtual	~ForceTorqueSensorHW ()

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

CanItf *	m_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 83 of file ati_force_torque_hw_can.h.

Constructor & Destructor Documentation

ATIForceTorqueSensorHWCan::ATIForceTorqueSensorHWCan ( )

Definition at line 63 of file ati_force_torque_hw_can.cpp.

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

Definition at line 75 of file ati_force_torque_hw_can.cpp.

ATIForceTorqueSensorHWCan::~ATIForceTorqueSensorHWCan ( )

Definition at line 87 of file ati_force_torque_hw_can.cpp.

Member Function Documentation

void ATIForceTorqueSensorHWCan::CalcCalibMatrix ( )

Definition at line 985 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::init ( )

virtual

Reimplemented from hardware_interface::ForceTorqueSensorHW.

Definition at line 107 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::initCan ( )

protected

Definition at line 147 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::initCommunication	(	int	can_type,
		std::string	can_path,
		int	can_baudrate,
		int	base_identifier
	)

virtual

Reimplemented from hardware_interface::ForceTorqueSensorHW.

Definition at line 95 of file ati_force_torque_hw_can.cpp.

void ATIForceTorqueSensorHWCan::ReadCalibrationMatrix ( )

Definition at line 566 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::ReadCountsPerUnit ( )

Definition at line 224 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::readDiagnosticADCVoltages	(	int	index,
		short int &	value
	)

virtual

Reimplemented from hardware_interface::ForceTorqueSensorHW.

Definition at line 337 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::ReadFirmwareVersion ( )

Definition at line 717 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::readFTData	(	int	statusCode,
		double &	Fx,
		double &	Fy,
		double &	Fz,
		double &	Tx,
		double &	Ty,
		double &	Tz
	)

virtual

Reimplemented from hardware_interface::ForceTorqueSensorHW.

Definition at line 768 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::ReadFTSerialNumber ( )

Definition at line 167 of file ati_force_torque_hw_can.cpp.

void ATIForceTorqueSensorHWCan::ReadMatrix	(	int	axis,
		Eigen::VectorXf &	vec
	)

private

Definition at line 596 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::ReadUnitCodes ( )

Definition at line 293 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::Reset ( )

Definition at line 492 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::SetActiveCalibrationMatrix ( int num )

Definition at line 388 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::SetBaseIdentifier ( int identifier )

Definition at line 513 of file ati_force_torque_hw_can.cpp.

bool ATIForceTorqueSensorHWCan::SetBaudRate ( int value )

Definition at line 441 of file ati_force_torque_hw_can.cpp.

void ATIForceTorqueSensorHWCan::SetCalibMatrix ( )

Definition at line 1033 of file ati_force_torque_hw_can.cpp.

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

Definition at line 912 of file ati_force_torque_hw_can.cpp.

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

Definition at line 924 of file ati_force_torque_hw_can.cpp.

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

Definition at line 936 of file ati_force_torque_hw_can.cpp.

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

Definition at line 899 of file ati_force_torque_hw_can.cpp.

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

Definition at line 888 of file ati_force_torque_hw_can.cpp.

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

Definition at line 948 of file ati_force_torque_hw_can.cpp.

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

Definition at line 960 of file ati_force_torque_hw_can.cpp.

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

Definition at line 972 of file ati_force_torque_hw_can.cpp.

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

Definition at line 872 of file ati_force_torque_hw_can.cpp.

Member Data Documentation

char ATIForceTorqueSensorHWCan::bytes[4]

Definition at line 151 of file ati_force_torque_hw_can.h.

CanMsg ATIForceTorqueSensorHWCan::CMsg

private

Definition at line 125 of file ati_force_torque_hw_can.h.

unsigned int ATIForceTorqueSensorHWCan::d_len

private

Definition at line 133 of file ati_force_torque_hw_can.h.

union { ... } ATIForceTorqueSensorHWCan::fbBuf

union { ... } ATIForceTorqueSensorHWCan::ibBuf

union { ... } ATIForceTorqueSensorHWCan::intbBuf

bool ATIForceTorqueSensorHWCan::m_bWatchdogErr

protected

Definition at line 122 of file ati_force_torque_hw_can.h.

int ATIForceTorqueSensorHWCan::m_CanBaseIdentifier

private

Definition at line 131 of file ati_force_torque_hw_can.h.

int ATIForceTorqueSensorHWCan::m_CanBaudrate

private

Definition at line 130 of file ati_force_torque_hw_can.h.

std::string ATIForceTorqueSensorHWCan::m_CanDevice

private

Definition at line 129 of file ati_force_torque_hw_can.h.

CanMsg ATIForceTorqueSensorHWCan::m_CanMsgRec

protected

Definition at line 121 of file ati_force_torque_hw_can.h.

int ATIForceTorqueSensorHWCan::m_CanType

private

Definition at line 128 of file ati_force_torque_hw_can.h.

Eigen::MatrixXf ATIForceTorqueSensorHWCan::m_mXCalibMatrix

private

Definition at line 142 of file ati_force_torque_hw_can.h.

CanItf* ATIForceTorqueSensorHWCan::m_pCanCtrl

private

Definition at line 126 of file ati_force_torque_hw_can.h.

Eigen::VectorXf ATIForceTorqueSensorHWCan::m_v3FXGain

private

Definition at line 136 of file ati_force_torque_hw_can.h.

Eigen::VectorXf ATIForceTorqueSensorHWCan::m_v3FYGain

private

Definition at line 137 of file ati_force_torque_hw_can.h.

Eigen::VectorXf ATIForceTorqueSensorHWCan::m_v3FZGain

private

Definition at line 138 of file ati_force_torque_hw_can.h.

Eigen::VectorXf ATIForceTorqueSensorHWCan::m_v3GaugeGain

private

Definition at line 135 of file ati_force_torque_hw_can.h.

Eigen::VectorXf ATIForceTorqueSensorHWCan::m_v3StrainGaigeOffset

private

Definition at line 134 of file ati_force_torque_hw_can.h.

Eigen::VectorXf ATIForceTorqueSensorHWCan::m_v3TXGain

private

Definition at line 139 of file ati_force_torque_hw_can.h.

Eigen::VectorXf ATIForceTorqueSensorHWCan::m_v3TYGain

private

Definition at line 140 of file ati_force_torque_hw_can.h.

Eigen::VectorXf ATIForceTorqueSensorHWCan::m_v3TZGain

private

Definition at line 141 of file ati_force_torque_hw_can.h.

Eigen::MatrixXf ATIForceTorqueSensorHWCan::m_vForceData

private

Definition at line 143 of file ati_force_torque_hw_can.h.

std::ofstream ATIForceTorqueSensorHWCan::out

private

Definition at line 167 of file ati_force_torque_hw_can.h.

short int ATIForceTorqueSensorHWCan::value

Definition at line 152 of file ati_force_torque_hw_can.h.

int ATIForceTorqueSensorHWCan::value

Definition at line 158 of file ati_force_torque_hw_can.h.

float ATIForceTorqueSensorHWCan::value

Definition at line 164 of file ati_force_torque_hw_can.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation