ForceTorqueUtility.h
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/**
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* This file is part of ArmarX.
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*
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* ArmarX is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* ArmarX is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @package control::ArmarXObjects::controller_creator
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* @author Jianfeng Gao ( jianfeng dot gao at kit dot edu )
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* @date 2023
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* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
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* GNU General Public License
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*/
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#pragma once
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#include <memory>
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#include <Eigen/Dense>
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#include <
RobotAPI/libraries/core/FramedPose.h
>
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#include <RobotAPI/interface/units/ForceTorqueUnit.h>
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#include <
ArmarXCore/observers/variant/DatafieldRef.h
>
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namespace
armarx::control::common::ft
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{
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class
ForceTorqueUtility;
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using
ForceTorqueUtilityPtr
= std::shared_ptr<ForceTorqueUtility>;
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class
ForceTorqueUtility
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{
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public
:
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ForceTorqueUtility
(
const
ForceTorqueUnitObserverInterfacePrx& forceTorqueObserver,
const
std::string& FTDatefieldName);
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Eigen::Vector3f
getForce
();
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FramedDirection
getFramedForce
();
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Eigen::Vector3f
getTorque
();
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Eigen::Vector6f
getForceTorque
();
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void
calibrate
();
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DatafieldRefPtr
forceDf
;
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DatafieldRefPtr
torqueDf
;
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Eigen::Vector3f
initialForce
= Eigen::Vector3f::Zero();
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Eigen::Vector3f
initialTorque
= Eigen::Vector3f::Zero();
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};
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}
armarx::control::common::ft::ForceTorqueUtility::getForce
Eigen::Vector3f getForce()
Definition:
ForceTorqueUtility.cpp:38
armarx::control::common::ft
This file is part of ArmarX.
Definition:
aron_conversions.cpp:29
armarx::control::common::ft::ForceTorqueUtility::getForceTorque
Eigen::Vector6f getForceTorque()
Definition:
ForceTorqueUtility.cpp:55
armarx::control::common::ft::ForceTorqueUtility::torqueDf
DatafieldRefPtr torqueDf
Definition:
ForceTorqueUtility.h:53
armarx::control::common::ft::ForceTorqueUtility::getFramedForce
FramedDirection getFramedForce()
Definition:
ForceTorqueUtility.cpp:43
IceInternal::Handle< DatafieldRef >
DatafieldRef.h
armarx::control::common::ft::ForceTorqueUtilityPtr
std::shared_ptr< ForceTorqueUtility > ForceTorqueUtilityPtr
Definition:
ForceTorqueUtility.h:37
FramedPose.h
armarx::control::common::ft::ForceTorqueUtility::calibrate
void calibrate()
Definition:
ForceTorqueUtility.cpp:64
armarx::control::common::ft::ForceTorqueUtility::ForceTorqueUtility
ForceTorqueUtility(const ForceTorqueUnitObserverInterfacePrx &forceTorqueObserver, const std::string &FTDatefieldName)
Definition:
ForceTorqueUtility.cpp:31
armarx::FramedDirection
FramedDirection is a 3 dimensional direction vector with a reference frame. The reference frame can b...
Definition:
FramedPose.h:83
armarx::control::common::ft::ForceTorqueUtility::initialForce
Eigen::Vector3f initialForce
Definition:
ForceTorqueUtility.h:54
Eigen::Matrix< float, 6, 1 >
armarx::control::common::ft::ForceTorqueUtility::initialTorque
Eigen::Vector3f initialTorque
Definition:
ForceTorqueUtility.h:55
armarx::control::common::ft::ForceTorqueUtility::forceDf
DatafieldRefPtr forceDf
Definition:
ForceTorqueUtility.h:52
armarx::control::common::ft::ForceTorqueUtility::getTorque
Eigen::Vector3f getTorque()
Definition:
ForceTorqueUtility.cpp:50
armarx::control::common::ft::ForceTorqueUtility
Definition:
ForceTorqueUtility.h:39
armarx
control
common
ft
utils
ForceTorqueUtility.h
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