FTSensor Class Reference

#include <armarx/control/common/ft/FTSensor.h>

Public Types
using	FTConfig = arondto::FTConfig

Public Member Functions
bool	calibrate (const FTConfig &c, double deltaT)
Eigen::Vector6f &	compensateTCPGravity (const FTConfig &data)
void	enableSafeGuard (bool enableForceGuard, bool enableTorqueGuard)
	FTSensor ()
Eigen::Vector6f &	getFilteredForceTorque (const FTConfig &data)
Eigen::Vector3f &	getSafeGuardForceOffset ()
void	initialize (const VirtualRobot::RobotNodeSetPtr &rns, const armarx::RobotUnitPtr &robotUnit, const FTConfig &c)
bool	isForceGuardEnabled ()
bool	isSafe (const FTConfig &c)
bool	isTorqueGuardEnabled ()
void	reset ()
void	resetSafeGuardOffset (const FTConfig &c)
void	updateStatus (const FTConfig &c, Eigen::Vector6f &currentFT, double deltaT, bool firstRun)
	~FTSensor ()

Public Attributes
std::atomic_bool	calibrated {false}
std::atomic_bool	ftSafe {true}

Detailed Description

Definition at line 51 of file FTSensor.h.

Member Typedef Documentation

FTConfig

using FTConfig = arondto::FTConfig

Definition at line 54 of file FTSensor.h.

Constructor & Destructor Documentation

FTSensor()

FTSensor ( )

inline

Definition at line 56 of file FTSensor.h.

~FTSensor()

~FTSensor ( )

inline

Definition at line 57 of file FTSensor.h.

Member Function Documentation

calibrate()

bool calibrate	(	const FTConfig &	c,
		double	deltaT
	)

this will calibrate the force torque value in FTSensorFrame until timeLimit is reached

rt is ready only if the FT sensor is calibrated, and the rt2interface buffer is updated (see above)

Definition at line 211 of file FTSensor.cpp.

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compensateTCPGravity()

Eigen::Vector6f & compensateTCPGravity

(

const FTConfig &

data

)

static compensation in root frame

Definition at line 264 of file FTSensor.cpp.

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enableSafeGuard()

void enableSafeGuard	(	bool	enableForceGuard,
		bool	enableTorqueGuard
	)

Definition at line 173 of file FTSensor.cpp.

getFilteredForceTorque()

Eigen::Vector6f & getFilteredForceTorque

(

const FTConfig &

data

)

Definition at line 293 of file FTSensor.cpp.

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getSafeGuardForceOffset()

Eigen::Vector3f & getSafeGuardForceOffset

(

)

Definition at line 332 of file FTSensor.cpp.

initialize()

void initialize	(	const VirtualRobot::RobotNodeSetPtr &	rns,
		const armarx::RobotUnitPtr &	robotUnit,
		const FTConfig &	c
	)

Definition at line 23 of file FTSensor.cpp.

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isForceGuardEnabled()

bool isForceGuardEnabled

(

)

Definition at line 186 of file FTSensor.cpp.

isSafe()

bool isSafe

(

const FTConfig &

c

)

Definition at line 198 of file FTSensor.cpp.

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isTorqueGuardEnabled()

bool isTorqueGuardEnabled

(

)

Definition at line 192 of file FTSensor.cpp.

reset()

void reset

(

)

you have to call this method only in the first loop of rtRun

Definition at line 91 of file FTSensor.cpp.

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resetSafeGuardOffset()

void resetSafeGuardOffset

(

const FTConfig &

c

)

Definition at line 154 of file FTSensor.cpp.

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updateStatus()

void updateStatus	(	const FTConfig &	c,
		Eigen::Vector6f &	currentFT,
		double	deltaT,
		bool	firstRun
	)

TODO how to toggle recalibration?

Definition at line 119 of file FTSensor.cpp.

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Member Data Documentation

calibrated

std::atomic_bool calibrated {false}

Definition at line 76 of file FTSensor.h.

ftSafe

std::atomic_bool ftSafe {true}

Definition at line 77 of file FTSensor.h.

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

• armarx/control/common/ft/FTSensor.h
• armarx/control/common/ft/FTSensor.cpp