ForceTorqueCtrl Class Reference

#include <ForceTorqueCtrl.h>

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
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 82 of file ForceTorqueCtrl.h.

Constructor & Destructor Documentation

ForceTorqueCtrl::ForceTorqueCtrl

(

)

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.

ForceTorqueCtrl::~ForceTorqueCtrl

(

)

Definition at line 86 of file ForceTorqueCtrl.cpp.

Member Function Documentation

void ForceTorqueCtrl::CalcCalibMatrix

(

)

Definition at line 972 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::Init

(

)

Definition at line 94 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::initCan ( )

protected

Definition at line 134 of file ForceTorqueCtrl.cpp.

void ForceTorqueCtrl::ReadCalibrationMatrix

(

)

Definition at line 553 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::ReadCountsPerUnit

(

)

Definition at line 211 of file ForceTorqueCtrl.cpp.

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

Definition at line 324 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::ReadFirmwareVersion

(

)

Definition at line 704 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::ReadFTSerialNumber

(

)

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.

bool ForceTorqueCtrl::ReadUnitCodes

(

)

Definition at line 280 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::Reset

(

)

Definition at line 479 of file ForceTorqueCtrl.cpp.

bool ForceTorqueCtrl::SetActiveCalibrationMatrix

(

int

num

)

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.

void ForceTorqueCtrl::SetCalibMatrix

(

)

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

char ForceTorqueCtrl::bytes[4]

Definition at line 149 of file ForceTorqueCtrl.h.

CanMsg ForceTorqueCtrl::CMsg

private

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

union { ... } ForceTorqueCtrl::ibBuf

union { ... } ForceTorqueCtrl::intbBuf

bool ForceTorqueCtrl::m_bWatchdogErr

protected

Definition at line 120 of file ForceTorqueCtrl.h.

int ForceTorqueCtrl::m_CanBaseIdentifier

private

Definition at line 129 of file ForceTorqueCtrl.h.

int ForceTorqueCtrl::m_CanBaudrate

private

Definition at line 128 of file ForceTorqueCtrl.h.

std::string ForceTorqueCtrl::m_CanDevice

private

Definition at line 127 of file ForceTorqueCtrl.h.

CanMsg ForceTorqueCtrl::m_CanMsgRec

protected

Definition at line 119 of file ForceTorqueCtrl.h.

int ForceTorqueCtrl::m_CanType

private

Definition at line 126 of file ForceTorqueCtrl.h.

Eigen::MatrixXf ForceTorqueCtrl::m_mXCalibMatrix

private

Definition at line 140 of file ForceTorqueCtrl.h.

CanItf* ForceTorqueCtrl::m_pCanCtrl

private

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.

short int ForceTorqueCtrl::value

Definition at line 150 of file ForceTorqueCtrl.h.

int ForceTorqueCtrl::value

Definition at line 156 of file ForceTorqueCtrl.h.

float ForceTorqueCtrl::value

Definition at line 162 of file ForceTorqueCtrl.h.

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

• ForceTorqueCtrl.h
• ForceTorqueCtrl.cpp