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}
std::atomic_bool	ftWasNotSafe {false}

Member Typedef Documentation

FTConfig

using FTConfig = arondto::FTConfig

Constructor & Destructor Documentation

FTSensor()

FTSensor ( )

inline

~FTSensor()

~FTSensor ( )

inline

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)

compensateTCPGravity()

Eigen::Vector6f & compensateTCPGravity

(

const FTConfig &

data

)

static compensation in root frame

enableSafeGuard()

void enableSafeGuard	(	bool	enableForceGuard,
		bool	enableTorqueGuard )

getFilteredForceTorque()

Eigen::Vector6f & getFilteredForceTorque

(

const FTConfig &

data

)

getSafeGuardForceOffset()

Eigen::Vector3f & getSafeGuardForceOffset

(

)

initialize()

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

isForceGuardEnabled()

bool isForceGuardEnabled

(

)

isSafe()

bool isSafe

(

const FTConfig &

c

)

isTorqueGuardEnabled()

bool isTorqueGuardEnabled

(

)

reset()

void reset

(

)

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

resetSafeGuardOffset()

void resetSafeGuardOffset

(

const FTConfig &

c

)

updateStatus()

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

TODO how to toggle recalibration?

Member Data Documentation

calibrated

std::atomic_bool calibrated {false}

ftSafe

std::atomic_bool ftSafe {true}

ftWasNotSafe

std::atomic_bool ftWasNotSafe {false}

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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