#include <autharl_ati_sensor.h>

Inheritance diagram for ati::sensor::Sensor:

Collaboration diagram for ati::sensor::Sensor:

Public Member Functions
	Sensor (bool set_bias=true, const std::string &name="Ati Sensor", const std::string &frame_id="ati_mini_40")

	Sensor (double m, const std::string &name="Ati Sensor", const std::string &frame_id="ati_sensor")
	Constructor that can be used when you need to read force data which compensate the weight of the tool. More...

void	getData (KDL::JntArray &output)
	Reads the current joint positions to the robot using KDL. More...

void	getData (arma::vec &output)
	Reads the current joint positions from the robot using Armadillo. More...

void	getData (Eigen::VectorXd &output)
	Reads the current joint positions from the robot using Eigen. More...

template<typename T >
void	getDataTemplate (T &output)

Eigen::Vector6d	getData (const Eigen::Matrix3d &rotation)
	Function for reading data after the mass compensation of the mounted tool. More...

bool	isOk ()
	Returns if the robot sensor is ok and operable. Should be implemented according to the robot in use. More...

Public Member Functions inherited from arl::robot::Sensor
	Sensor ()
	Empty constructor. More...

	Sensor (const std::string &name="Unnamed")
	Default constructor. More...

std::string	getName ()
	Returns the name of the sensor. More...

Additional Inherited Members
Public Types inherited from arl::robot::Sensor
enum	Type { FT_SENSOR, FORCE_SENSOR }
	Different sensor types. More...

Public Attributes inherited from arl::robot::Sensor
double	cycle
	The control cycle of the robot sensor. More...

std::string	alias
	The alias of the robot sensor, which is the name in lower case without spaces. More...

Type	type

std::string	frame_id

Protected Member Functions inherited from arl::robot::Sensor
void	throwFunctionIsNotImplemented (std::string function_name)

Protected Attributes inherited from arl::robot::Sensor
std::string	sensor_name
	The name of the robot sensor. More...

Constructor & Destructor Documentation

ati::sensor::Sensor::Sensor	(	bool	set_bias = `true`,
		const std::string &	name = `"Ati Sensor"`,
		const std::string &	frame_id = `"ati_mini_40"`
	)

explicit

ati::sensor::Sensor::Sensor	(	double	m,
		const std::string &	name = `"Ati Sensor"`,
		const std::string &	frame_id = `"ati_sensor"`
	)

explicit

Constructor that can be used when you need to read force data which compensate the weight of the tool.

Follow the following steps in order to use the tool compensation:

Plug in the ATI Sensor without the tool mounted.
Compensate the bias of the sensor by its interface at: 192.168.2.1.
Mount your tool.
Use this constructor to initialize the Sensor by providing the tool mass.
Use the Eigen::Vector6d getData(const Eigen::Matrix3d& rotation) function for reading data.

Parameters

m	The value of the tool mass.
name	The name of the sensor. Defaults to "Ati Sensor"
frame_id	The frame ID. Defaults to "ati_sensor"

Member Function Documentation

void ati::sensor::Sensor::getData ( KDL::JntArray & output )

virtual

Reads the current joint positions to the robot using KDL.

Parameters

output The output given by the robot sensor

Reimplemented from arl::robot::Sensor.

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void ati::sensor::Sensor::getData ( arma::vec & output )

virtual

Reads the current joint positions from the robot using Armadillo.

Parameters

output The output given by the robot sensor

Reimplemented from arl::robot::Sensor.

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void ati::sensor::Sensor::getData ( Eigen::VectorXd & output )

virtual

Reads the current joint positions from the robot using Eigen.

Parameters

output The output given by the robot sensor

Reimplemented from arl::robot::Sensor.

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Eigen::Vector6d ati::sensor::Sensor::getData ( const Eigen::Matrix3d & rotation )

virtual

Function for reading data after the mass compensation of the mounted tool.

Warning: Right now this provide compensate values only for the force measurements and the class is aware only for the value of the mass. It is not aware of the center of mass and thus the torque measurements are not compensated yet.

Todo:: Compensate for the torques

Parameters

rotation The orientation of the sensor (the arm) with respect the base frame.

Returns: The wrench of the tool mass compensated F/T measurements

Reimplemented from arl::robot::Sensor.

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template<typename T >

void ati::sensor::Sensor::getDataTemplate ( T & output )

inline

bool ati::sensor::Sensor::isOk ( )

virtual

Returns if the robot sensor is ok and operable. Should be implemented according to the robot in use.

Returns: True if the robot haven't returns any errors. False otherwise.

Reimplemented from arl::robot::Sensor.

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation